A Master-Slave Multi-AUV Cooperative Navigation Method Based on Dual Motion Model
A motion model and collaborative navigation technology, applied in navigation calculation tools and other directions, can solve problems such as high cost, reduce costs, ensure collaborative positioning performance, and reduce weight.
Active Publication Date: 2021-05-11
HARBIN ENG UNIV
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Problems solved by technology
However, in the case of a large number of following AUVs, even if the following AUVs are equipped with low-precision dead reckoning navigation equipment, the required inertial navigation equipment and DVL are still a considerable cost. Therefore, in practical engineering applications, if it can be realized In the case of following the AUV without inertial navigation equipment and DVL, it can also ensure the positioning accuracy of the cooperative navigation system within the allowable range, which will have great research value
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[0136] The present invention will be further described below in conjunction with the accompanying drawings.
[0137] Cooperative navigation is currently one of the most effective navigation methods for multi-autonomous underwater vehicles in the middle layer region, and has broad application prospects. Usually, there are two forms of multi-AUV cooperative navigation and positioning: 1) Parallel type, that is, each aircraft in the system has the same function and structure, uses its own navigation system for positioning, and obtains the information of other aircraft through underwater acoustic communication. Position information; 2) Master-slave type, also known as pilot type, that is, a small number of pilot AUVs in the system are equipped with high-precision navigation equipment, and a large number of follower AUVs are equipped with low-precision navigation equipment. Follower AUVs improve their own navigation accuracy by obtaining the positional relationship with the pilot AU...
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The invention belongs to the field of underwater vehicle navigation research, and specifically relates to a master-slave multi-AUV cooperative navigation method based on a dual-motion model. Broadcast and send speed information to the following AUV; establish a relative motion state space model between the following AUV and the pilot AUV; estimate the speed component difference between the following AUV and the pilot AUV through CKF; establish a multi-AUV cooperative navigation state space model in dual pilot mode; The present invention proposes to combine the AUV relative motion state space model with the multi-AUV cooperative navigation state space model of the dual pilot mode, which ensures the cooperative positioning performance of the multi-AUV cooperative navigation system; the present invention does not need to be equipped with inertial navigation equipment and DVL to follow the AUV, Therefore, the complexity of the AUV system configuration is reduced, and the internal space and weight of the AUV are saved.
Description
technical field [0001] The invention belongs to the field of underwater vehicle navigation research, and in particular relates to a master-slave multi-AUV cooperative navigation method based on a dual motion model. Background technique [0002] Cooperative navigation is currently one of the most effective navigation methods for multi-autonomous underwater vehicles in the middle layer region, and has broad application prospects. Usually, there are two forms of multi-AUV cooperative navigation and positioning: 1) Parallel type, that is, each aircraft in the system has the same function and structure, uses its own navigation system for positioning, and obtains the information of other aircraft through underwater acoustic communication. Position information; 2) Master-slave type, also known as pilot type, that is, a small number of pilot AUVs in the system are equipped with high-precision navigation equipment, and a large number of follower AUVs are equipped with low-precision n...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 徐博李盛新李金张勇刚王潇雨郭瑜张大龙李志鹏
Owner HARBIN ENG UNIV