一种基于极坐标模型的多AUV协同导航与定位算法

为了解决多个自主式水下无人航行器(AUV)在作曲线轨迹的航行时常规协同导航算法精度较低的难题,提出了一种基于极坐标的多AUV协同导航与定位算法.首先,将本算法的模型、可观测性与常规的直角坐标系算法进行了分析与对比.接着,进行了基于实航数据的数值仿真.针对解决各种传感器受异常噪声干扰导致多AUV协同定位误差变大的问题,本...

A Cooperative Navigation and Positioning Algorithm of Multi-AUVs Based on the Polar-coordinate Model

In order to solve the problem of low precision of conventional cooperative navigation algorithm of multiple Autonomous Underwater Vehicles(AUVs)moving in curved trajectory,a cooperative navigation and positioning algorithm based on the polar coordinate is proposed in this article.Firstly,the model and observability of this algorithm are analyzed and compared with the conventional algorithm based on the rectangular coordinate.Then,the numerical simulation based on the experimental sailing-data is carried out.In order to solve the problem that the errors of cooperative positioning of multi-AUVs become larger due to the interference of various sensors by the abnormal noise,the recognition and elimination technology of outliers from the sensors is introduced in this algorithm.The errors of end-points at the trajectories of the proposed algorithm,conventional algorithm of cooperative navigation and dead-reckoning algo rithm are 15.9m,621.1m and 1251.3m respectively.The error of end-point in this algorithm is 2.6%of that in the traditional algorithm.Therefore,compared with the traditional algorithm,the accuracy of the proposed algorithm is higher accuracy and the performance of anti-interference is better.