| 运动矢径对AUV协同定位精度影响的仿真 |
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| 引用本文： | 张加全,刘明雍,胡俊伟.运动矢径对AUV协同定位精度影响的仿真[J].火力与指挥控制,2012,37(1):43-46. |
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| 作者姓名： | 张加全 刘明雍 胡俊伟 |
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| 作者单位： | 西北工业大学航海学院,西安,710072 |
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| 基金项目： | 国家自然科学基金，新世纪优秀人才计划基金 |
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| 摘 要： | 针对在基于运动矢径的自主水下航行器(AUV)协同定位算法中运动矢径对定位精度的影响进行了仿真分析.利用扩展卡尔曼滤波设计了AUV协同定位算法,通过设定不同的运动矢径对该协同定位算法进行仿真,分析研究了运动矢径的变化对定位精度的影响.仿真结果表明,该定位算法受运动矢径的影响,增大运动矢径会使滤波误差波动变大,降低定位精度.
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| 关 键 词： | 水下自主航行器 运动矢径 协同定位 扩展卡尔曼滤波 定位精度 |
Simulation Study on the Impacts of Motion Radius Vector in AUV Cooperative Localization Accuracy |
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| ZHANG Jia-quan
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LIU Ming-yong
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HU Jun-wei.Simulation Study on the Impacts of Motion Radius Vector in AUV Cooperative Localization Accuracy[J].Fire Control & Command Control,2012,37(1):43-46. |
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| Authors: | ZHANG Jia-quan LIU Ming-yong HU Jun-wei |
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| Institution: | (College of Marine,Northwestern Polytechnical University,Xi’an 710072,China) |
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| Abstract: | The simulation study on the impacts of motion radius vector in AUV(Autonomous Underwater Vehicle) cooperative localization accuracy is presented.A cooperative navigation algorithm based on EKF(Extended Kalman Filter) is designed.Different motion radius vectors are used to simulate the algorithm and the effects caused by motion radius vector is analyzed.The simulation results indicate that the cooperative localization algorithm is vulnerable to motion radius vector.The increase of motion radius vector will lead to a bigger filtering fluctuation and a lower localization accuracy. |
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| Keywords: | autonomous underwater vehicle motion radius vector cooperative localization extended Kalman filter localization accuracy |
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