基于多USV的移动长基线定位技术研究

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1、USV()20176CooperativeLocalizationofMovingLongBaselineBasedonMultipleUnmannedSurfaceVehiclesByChenWeiUndertheSupervisionofProfessorYanWeishengAdissertationsubmittedtoNorthwesternPolytechnicalUniversityinpa

2、rtialfulfillmentoftherequirementsforthedegreeofDoctorofPhilosophyinArmamentScienceandTechnologyXi’an,P.R.ChinaJune2017(AUV)AUVGPSAUV

3、(USV)AUV(1)(MHE)AUVUSV(LS)(KF)MHE

4、(2)USVUSVAUVUSV(3)USVAUV

5、(4)(UKF)iUSVUKF(5)AUV/

6、(SISE)/AUV iiAbstractAbstractWiththedevelopmentofautomationtechnology,sensortechnology,powerandenergytechnology,AutonomousUnderwaterVehicle(AUV)with

7、perceivedandbe-havioralabilitieshasbeenpaidmoreandmoreattentioninthefieldofmilitaryandcivilaffairs.Goodlocalizationcapabilityisthekeytoachieveunderwatertaskssuc-cessfully.Duetothecomplexityandparticularityofthemarineenvironment,thereisnounderwaterpositioningsystemcanbecom

8、parablewithGPS.TheunderwateracousticpositioningisthemainmethodforhighaccuracypositioningofAUV.Movinglongbaseli