Unlock instant, AI-driven research and patent intelligence for your innovation.

Multi-AUV cooperative positioning method based on iterative extension RTS smoothing filtering algorithm

A smoothing filtering algorithm and co-location technology, applied in complex mathematical operations, navigation calculation tools, measurement devices, etc., can solve problems such as the reduction of co-navigation and positioning accuracy, and achieve improved positioning accuracy, good accuracy and stability, and suppression of observation. effect of noise

Pending Publication Date: 2021-08-31
JIANGSU UNIV OF SCI & TECH
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Kalman filtering is a common filtering algorithm. This filtering algorithm is based on the fact that the observation noise is Gaussian noise. However, due to the changeable underwater environment, the observation noise is often non-Gaussian distribution, which will cause the accuracy of cooperative navigation positioning to deteriorate. reduce

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-AUV cooperative positioning method based on iterative extension RTS smoothing filtering algorithm
  • Multi-AUV cooperative positioning method based on iterative extension RTS smoothing filtering algorithm
  • Multi-AUV cooperative positioning method based on iterative extension RTS smoothing filtering algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0085] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention Modifications in equivalent forms all fall within the scope defined by the appended claims of this application.

[0086] The present invention provides a multi-AUV cooperative positioning method based on iteratively extended RTS smoothing filter algorithm, referring to figure 1 , which includes the following steps:

[0087] S1: Model the AUV kinematics model and get its motion equation:

[0088]

[0089] where x k ,y k , θ k are the transverse coordinates, longitudinal coordinates and yaw angles of the AUV in the two-dimensional projection plane; V k is the forward synthesis...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a multi-AUV cooperative positioning method based on an iterative extension RTS smoothing filtering algorithm, wherein the method comprises the following steps: modeling an AUV kinematic model to obtain a motion equation of the AUV kinematic model; according to the motion equation, establishing a measurement model of master-slave multi-AUV collaborative navigation positioning to obtain a measurement equation; carrying out iterative EKF filtering on a nonlinear system to obtain maximum posteriori estimation of the state and variance, correcting a filtering result by adopting an RTS optimal smoothing algorithm, and thus generating a new suggested distribution function RTS-IEKF; and combining the kinematical equation of the AUV in the step S1 with the filtering algorithm in the step S3, establishing a filtering algorithm suitable for the collaborative navigation system, combining the RTS optimal smoothing algorithm with the filtering algorithm, and estimating to obtain the position of the AUV. The method not only has the advantages of being simple and easy to implement, but also can effectively improve the navigation and positioning precision of the following AUV after the high-precision navigation and positioning information of the pilot AUV is fused through the cooperative positioning algorithm, and the positioning system has good accuracy and stability.

Description

technical field [0001] The invention belongs to the field of autonomous underwater vehicles, and relates to an underwater master-slave multi-AUV cooperative positioning technology, in particular to a multi-AUV cooperative positioning method based on an iterative extended RTS smoothing filter algorithm. Background technique [0002] Autonomous underwater vehicles (AUVs) have been widely used in many military and civil fields. The use of a single AUV can no longer meet the current needs. Therefore, it is of great significance to deeply study the cooperative system composed of multiple AUVs. In the AUV collaborative system, the aircraft equipped with low-precision navigation devices uses underwater acoustic communication equipment to obtain the position information of high-precision aircraft and the reference information of the relative distance between the two, and then realizes the collaborative correction of navigation and positioning errors through information fusion techn...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/20G06F17/11G06F17/16
CPCG01C21/203G06F17/16G06F17/11
Inventor 周萌萌张冰赵强潘梦婷左思雨
Owner JIANGSU UNIV OF SCI & TECH