高级搜索

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于主从式水下自主航行器移动组网的合作目标定位方法

赵婧旭 赵晨 周锋

赵婧旭, 赵晨, 周锋. 基于主从式水下自主航行器移动组网的合作目标定位方法[J]. 电子与信息学报, 2022, 44(6): 1919-1926. doi: 10.11999/JEIT211359
引用本文: 赵婧旭, 赵晨, 周锋. 基于主从式水下自主航行器移动组网的合作目标定位方法[J]. 电子与信息学报, 2022, 44(6): 1919-1926. doi: 10.11999/JEIT211359
ZHAO Jingxu, ZHAO Chen, ZHOU Feng. Cooperative Target Location Method Based on Master-slave Autonomous Underwater Vehicles Mobile Network[J]. Journal of Electronics & Information Technology, 2022, 44(6): 1919-1926. doi: 10.11999/JEIT211359
Citation: ZHAO Jingxu, ZHAO Chen, ZHOU Feng. Cooperative Target Location Method Based on Master-slave Autonomous Underwater Vehicles Mobile Network[J]. Journal of Electronics & Information Technology, 2022, 44(6): 1919-1926. doi: 10.11999/JEIT211359

基于主从式水下自主航行器移动组网的合作目标定位方法

doi: 10.11999/JEIT211359
基金项目: 国家自然科学基金(U1806201, 11974090)
详细信息
    作者简介:

    赵婧旭:女,1999年生,博士生,研究方向为水下目标定位、水声网络定位

    赵晨:男,1993年生,博士,研究方向为水下目标定位、水声网络定位、长基线定位

    周锋:男,1980年生,博士,教授,博士生导师,研究方向为水声通信网络、水声网络导航定位

    通讯作者:

    周锋 zhoufeng@hrbeu.edu.cn

  • 中图分类号: TN929.3

Cooperative Target Location Method Based on Master-slave Autonomous Underwater Vehicles Mobile Network

Funds: The National Natural Science Foundation of China (U1806201, 11974090)
  • 摘要: 利用水下自主航行器(AUVs)协同编队可以在未知水域中实现对目标的定位。针对AUV导航误差导致定位精度降低问题,该文提出一种基于扩展卡尔曼滤波器(EKF)的多AUV编队融合观测协同目标定位算法。AUV编队由一个装备有高精度惯性导航系统(INS)的领航AUV以及多个装配有低精度INS的跟随AUV组成。从跟随AUV中选取参考AUV和待测AUV,通过设置定位周期和观测间隔来分别对其进行不同的观测。参考AUV作为中转,接收来自高精度AUV位置参数后,向待测AUV传递自身位置参数,利用扩展卡尔曼滤波器完成对AUV集群的协同位置修正。仿真结果表明,该方法AUV集群自身定位精度高且误差随时间积累小,对领航AUV数量需求少,能够实现水下目标低功耗、远距离定位。
  • 图  1  AUV水下定位系统示意图

    图  2  AUV移动示意图

    图  3  目标向AUV所在平面投影图

    图  4  基于EKF的融合观测协同定位法流程图

    图  5  AUV编队理论路径

    图  6  两种定位系统协同定位误差

    图  7  两种定位方法定位误差分布图

    图  8  双领航主从式多AUV编队目标定位系统定位误差分布图

    图  9  定位误差与量测误差关系图

    图  10  随机位置静止目标定位结果图

  • [1] ZHANG Jucheng, HAN Yunfeng, ZHENG Cuie, et al. Underwater target localization using long baseline positioning system[J]. Applied Acoustics, 2016, 111: 129–134. doi: 10.1016/j.apacoust.2016.04.009
    [2] ZHANG Tao, CHEN Liping, and LI Yao. AUV underwater positioning algorithm based on interactive assistance of SINS and LBL[J]. Sensors, 2016, 16(1): 42. doi: 10.3390/s16010042
    [3] LI Zhi, WANG Yilin, YANG W, et al. Development status and key navigation technology analysis of autonomous underwater vehicles[C]. The 3rd International Conference on Unmanned Systems (ICUS), Harbin, China, 2020: 1130–1133.
    [4] ZHOU Ziye, JIANG Yanqing, LI Ye, et al. A single acoustic beacon-based positioning method for underwater mobile recovery of an AUV[J]. International Journal of Advanced Robotic Systems, 2018, 15(5): 1–10. doi: 10.1177/1729881418801739
    [5] ZHANG Meiyan and CAI Wenyu. Multi-AUV aided cooperative 3D-localization for underwater sensor networks[J]. Recent Advances in Electrical & Electronic Engineering, 2020, 13(1): 80–90. doi: 10.2174/2352096512666181219122909
    [6] ZHANG Jucheng, FENG Yu, HAN Yunfeng, et al. Research on cooperative localization algorithm for multi-AUV system based on distance measurement[C]. 2019 IEEE International Conference on Signal Processing, Communications and Computing (ICSPCC), Dalian, China, 2019.
    [7] QI Yuantao, WANG Bo, WANG Shunting, et al. Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements[C]. 2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC), Nanjing, China, 2016: 295–299.
    [8] YANG Yue, XIAO Yang, and LI Tieshan. A survey of autonomous underwater vehicle formation: Performance, formation control, and communication capability[J]. IEEE Communications Surveys & Tutorials, 2021, 23(2): 815–841. doi: 10.1109/COMST.2021.3059998
    [9] LU Jian, CHEN Xu, LUO Maoxin, et al. Cooperative localization for multiple AUVs based on the rough estimation of the measurements[J]. Applied Soft Computing, 2020, 91: 106197. doi: 10.1016/j.asoc.2020.106197
    [10] 王宏健, 王晶, 刘振业. 基于迭代扩展Kalman滤波建议分布和线性优化重采样的快速同步定位与构图[J]. 电子与信息学报, 2014, 36(2): 318–324. doi: 10.3724/SP.J.1146.2012.01373

    WANG Hongjian, WANG Jing, and LIU Zhenye. Fast simultaneous localization and mapping based on iterative extended Kalman filter proposal distribution and linear optimization resampling[J]. Journal of Electronics &Information Technology, 2014, 36(2): 318–324. doi: 10.3724/SP.J.1146.2012.01373
    [11] 杨少凡, 余华兵, 陈新华, 等. 基于扩展Kalman滤波的单领航者自主水下航行器协同导航判别式训练方法研究[J]. 电子与信息学报, 2015, 37(11): 2756–2761. doi: 10.11999/JEIT150036

    YANG Shaofan, YU Huabing, CHEN Xinhua, et al. Discriminative training of Kalman filters based cooperative navigation for multiple autonomous underwater vehicles with a single leader[J]. Journal of Electronics &Information Technology, 2015, 37(11): 2756–2761. doi: 10.11999/JEIT150036
    [12] 冯鹏, 熊凌. 基于分层式结构的多AUV协同导航方法及仿真[J]. 自动化与仪表, 2019, 34(2): 27–31. doi: 10.19557/j.cnki.1001-9944.2019.02.007

    FENG Peng and XIONG Ling. Multiple AUV cooperative navigation method and simulation based on hierarchical structure[J]. Automation &Instrumentation, 2019, 34(2): 27–31. doi: 10.19557/j.cnki.1001-9944.2019.02.007
    [13] MU Xiaokai, GUO Jia, SONG Yan, et al. Application of modified EKF algorithm in AUV navigation system[C]. The OCEANS 2017 – Aberdeen, Aberdeen, UK, 2017.
    [14] WANG Lingxiao and PANG Shuo. AUV navigation based on inertial navigation and acoustic positioning systems[C]. The OCEANS 2018 MTS/IEEE Charleston, Charleston, USA, 2018.
    [15] 赵晨, 乔钢, 周锋. 基于正交移动双水下自主潜航器的水下合作目标定位方法[J]. 电子与信息学报, 2021, 43(3): 834–841. doi: 10.11999/JEIT200570

    ZHAO Chen, QIAO Gang, and ZHOU Feng. Underwater cooperative target localization method based on double orthogonal moving autonomous underwater vehicles[J]. Journal of Electronics &Information Technology, 2021, 43(3): 834–841. doi: 10.11999/JEIT200570
    [16] SIEGERT G, BANYŚ P, MARTÍNEZ C S, et al. EKF based trajectory tracking and integrity monitoring of AIS data[C]. 2016 IEEE/ION Position, Location and Navigation Symposium (PLANS), Savannah, USA, 2016: 887–897.
    [17] STOLL H, ZIMMER P, HARTMANN F, et al. GPS-independent localization for off-road vehicles using ultra-wideband (UWB)[C]. The 20th International Conference on Intelligent Transportation Systems (ITSC), Yokohama, Japan, 2017.
    [18] 梁国龙, 赵天白, 邹男, 等. 基于Chan算法的水下测控设备组网数据融合技术研究[J]. 电子与信息学报, 2018, 40(5): 1181–1186. doi: 10.11999/JEIT170727

    LIANG Guolong, ZHAO Tianbai, ZOU Nan, et al. An underwater measurement and control network centralized data fusion localization algorithm based on Chan-algorithm[J]. Journal of Electronics &Information Technology, 2018, 40(5): 1181–1186. doi: 10.11999/JEIT170727
  • 加载中
图(10)
计量
  • 文章访问数:  590
  • HTML全文浏览量:  278
  • PDF下载量:  125
  • 被引次数: 0
出版历程
  • 收稿日期:  2021-11-30
  • 修回日期:  2022-04-07
  • 网络出版日期:  2022-04-18
  • 刊出日期:  2022-06-21

目录

    /

    返回文章
    返回