cooperativenavigation省略ofmotionradiusv

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1、BasedonEstimationofMotionRadiusVectorsLIWen-bai(李闻白)，LIUMing-yong(刘明雍)，LIUFu-qiang(刘富樯)，XUFei(徐飞)(SchoolofMarineEngineering，NorthwesternPolytechnicalUniversity，Xi’an710072Shaanxi，China)Abstract:Acooperativenavigationalgorithmforagroupofautonomousunderwatervehiclesisproposedo

2、nthebasisofmo-tionradiusvectorestimation．Combinedthedeadreckoningdatawiththemutualrangedatathroughanacousticcommunica-tionnetworkamongthegroupmembers，therelativepositioningproblemcanbesolved．Anovelapproachforsolvingtherelativepositioningispresentedbyusingarecursivetrigonomet

3、rytechniqueandextendedKalmanfilter(EKF)．Simulationresultsverifythecorrectnessandeffectivenessofthisnavigationmethod．KeyWords:automaticcontroltechnology;cooperativenavigation;autonomousunderwatervehicle;motionradiusvector;extendedKalmanfilterCLCNumber:TP242.3DocumentCode:AArt

4、icleID:1673-002X(2011)01-0009-06byPBaccouetal．［4－6］inrecentyears．Itdealswithapositioningalgorithmforseveralvehicleswithrespecttoaleadervehicle．Itsadvantagesarethesmallnumberofsensorsandtheindependencetowardsabeaconnet-work．However，sinceitisnotpossibletodeterminethevehicle’sp

5、ositionfromsingledistanceinformation，thefollowervehiclehastomaneuverproperlyrelativetotheleadertoprovidesufficientsolvingconditions．Thisextraprocessincreasesthecomplexityofthenavigationsystem，andthereal-timepropertyaswellasthero-bustnessforthesystemdecreasesomewhat．Aimingtos

6、olvetheproblemabove，inthispaper，arobustnavigationmethodformultipleAUVsispro-posedonthebasisofmotionradiusvectors(MRV)es-timation．ItisusedtodeterminetherelativepositionsofthemembersintheAUVgroup，asshowninFig．1．Thepositioninformationcanbesharedbyeachindivid-ualAUVthroughacoust

7、iccommunications．Then，combinedwiththedeadreckoningdata，thepositioningproblemforeachAUVcanbesolvedbyusingarecur-sivetrigonometrytechniqueandanextendedKalmanIntroductionTheabsenceofGPSunderwatermakesnavigationforautonomousunderwatervehicle(AUV)difficult，especiallyforoffshoreen

8、gineering，pipelinemainte-nance，environmentsurveyandmineralresourcespros-pec