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提出一种基于移动长基线的多无人水下航行器协同导航与定位方法.多无人水下航行器协同导航与定位方法对于解决大水深和远航程问题至关重要,在移动长基线算法中,主UUV装备高精度导航设备作为移动长基线节点,而从UUV装备低精度导航设备,两者之间通过水声装置来相互定位,利用传统几何关系解算从UUV位置的算法将产生很大误差.基于扩展卡尔曼滤波的移动长基线算法能有效融合内部和外部传感器信息,提高导航精度.仿真试验对此进行了验证.
A method of co-navigation and positioning based on mobile long baseline for unmanned underwater vehicle is proposed. The co-navigation and positioning method of multi-unmanned underwater vehicle is very important to solve the problem of deep water and long range. , The main UUV equipped with high-precision navigation equipment as mobile long baseline nodes, while the UUV equipped with low-precision navigation equipment, through the acoustic device between the two to locate each other, the use of traditional geometric algorithms to solve UUV position algorithm will produce very Large errors.Extended Kalman filter based mobile long baseline algorithm can effectively fuse the information of internal and external sensors to improve the navigation accuracy.The simulation tests verify this.