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

ZHAO Jingxu; ZHAO Chen; ZHOU Feng

doi:10.11999/JEIT211359

Volume 44 Issue 6

Jun. 2022

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Article Navigation > Journal of Electronics & Information Technology > 2022 > 44(6): 1919-1926

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

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

doi: 10.11999/JEIT211359

ZHAO Jingxu^{1, 2, 3},
ZHAO Chen⁴,
ZHOU Feng^{1, 2, 3
,
,}

1.
Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China
2.
Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China
3.
College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China
4.
Beijing Institute of Remote Sensing Equipment, Beijing 100854, China

Funds: The National Natural Science Foundation of China (U1806201, 11974090)

Received Date: 2021-11-30
Rev Recd Date: 2022-04-07

Available Online: 2022-04-18

Publish Date: 2022-06-21

Abstract

Abstract

The cooperative formation of Autonomous Underwater Vehicles (AUVs) can be used to locate targets in unknown waters. In order to reduce the positioning error caused by AUV navigation errors, a multi-AUV formation fusion observation cooperative target positioning algorithm based on Extended Kalman Filter (EKF) is proposed in this paper. The AUV formation consists of a pilot AUV equipped with a high precision Inertial Navigation System (INS) and several following AUVs equipped with low precision INS. The reference AUV and the AUV to be measured are selected from the following AUV, and different observations are made respectively by setting the positioning period and observation interval. After receiving position parameters from high-precision AUV with reference to AUV as relay, its own position parameters are transmitted to the AUV to be tested, and cooperative position correction of AUV cluster is completed with extended Kalman filter. Simulation results show that the AUV cluster has high positioning accuracy and small error accumulation over time, which requires less piloting AUV quantity and can achieve low power consumption and long-distance positioning of underwater targets.

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References(18)

References

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