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Collaborative AUV (autonomous underwater vehicle) navigation method based on robust information filtering

A technology of information filtering and cooperative navigation, which is applied in the direction of navigation computing tools, etc., can solve problems such as the influence of measurement information, the divergence of positioning errors of cooperative navigation algorithms, and the decline in state estimation accuracy

Inactive Publication Date: 2018-11-16
HARBIN ENG UNIV
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Problems solved by technology

However, when the AUV is operating underwater, abnormal clutter will have a great impact on the measurement information, and in many cases the noise presents a thick-tailed distribution characteristic, which will inevitably lead to a decrease in the accuracy of state estimation, and in severe cases may cause cooperative navigation. Algorithm positioning error divergence

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  • Collaborative AUV (autonomous underwater vehicle) navigation method based on robust information filtering
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  • Collaborative AUV (autonomous underwater vehicle) navigation method based on robust information filtering

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[0122] The following examples describe the present invention in more detail.

[0123] A kind of AUV cooperative navigation method based on robust information filtering of the present invention comprises the following steps:

[0124] Step 1: Establish the state equation and measurement equation describing the AUV collaborative navigation system. Specifically, the nonlinear system model is established as follows:

[0125] x k =f(x k-1 )+n k-1 (1)

[0126] z k =h(x k )+v k (2)

[0127] Among them, the state equation is x k =f(x k-1 )+n k-1 , the observation equation is z k =h(x k )+v k , x k is the n-dimensional state vector at the kth moment, representing the position information and velocity information of the AUV, z k is the m-dimensional measurement vector at the kth moment, which represents the azimuth observation information of the AUV, f(●) and h(●) are known nonlinear functions, n k-1 is the n-dimensional system noise at the k-1th moment, v k is the m-...

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Abstract

The invention provides a collaborative AUV (autonomous underwater vehicle) navigation method based on robust information filtering. The collaborative AUV navigation method comprises the following steps: establishing a state equation describing an AUV navigation system and a measurement equation; estimating the state of a master AUV, and storing current time information in a state vector when a packet is transmitted to a subordinate AUV; performing information marginalization on the state vector after completion of data packet transmission; estimating the state of the subordinate AUV based on robust information filtering, receiving and processing data, performing distance measurement updating, namely performing the robust filtering process to correct distance measurement noises first and then performing the measurement updating process, and performing information marginalization on the state vector; restoring the information filtering states of the master AUV and the subordinate AUV toobtain AUV navigation information. By the collaborative AUV navigation method, the problem of low AUV positioning accuracy caused by abnormal measurement noises in underwater acoustic communication issolved, divergence of the navigation information is avoided, and the goal of high-precision real-time positioning in collaborative navigation is achieved.

Description

technical field [0001] The invention relates to an AUV cooperative navigation method, which belongs to a nonlinear filtering and cooperative navigation method. Background technique [0002] Autonomous underwater vehicles (AUV) are an important tool for human beings to develop the marine environment. With the deepening of exploration activities, the application of single vehicle to perform tasks can no longer meet the actual requirements. The cooperative operation of multiple underwater vehicles has been paid more and more attention due to its powerful advantages. Limited by the complex and changeable underwater environment, the problem of high-precision navigation of multiple underwater vehicles is the primary problem to be solved urgently in the cooperative operation system of vehicles. The centralized collaborative navigation method transmits the original measurement information of each AUV to the fusion center for processing, and the data fusion process is performed in t...

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Application Information

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IPC IPC(8): G01C21/20
Inventor 李宁张滋张勇刚王国庆
Owner HARBIN ENG UNIV
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