Dynamic positioning information fusion method for underwater unmanned robot cluster

Abstract

The invention relates to the technical field of unmanned robot clusters, in particular to a dynamic positioning information fusion method for an underwater unmanned robot cluster. A concept of a consistency method under dynamic topology is introduced, a distributed unscented Kalman filtering method is combined, a local unscented filter and a weighted average consistency filter are embedded in each node of a communication network, and the local unscented filter utilizes local multi-source observation information of each AUV node to obtain a local unbiased estimator about the positioning state of the measured node; and meanwhile, the weighted average consistency filter carries out consistent fusion on all local posteriori estimations, so that a global posteriori estimation result is output in a mode that an information matrix weights a posteriori estimation mean value.

Description

technical field [0001] The invention relates to the technical field of unmanned robot swarms, in particular to a dynamic positioning information fusion method for underwater unmanned robot swarms. Background technique [0002] With the maturity of AUV technology, the difficulty and complexity of the tasks it faces are also increasing. Due to its own limitations, a single AUV can no longer meet the new requirements of increasingly precise, diverse and complex tasks. AUV is moving towards miniaturization. , Simplified structure, intelligent, hybrid and group development. In particular, multiple AUVs have some advantages that a single AUV does not have, such as higher fault tolerance, robustness, high-efficiency operations, reconfigurability, distributed perception and coordination, and wider application fields. [0003] However, compared with the traditional land and air co-location method based on radio communication network, multi-AUV cluster co-location based on acoustic c...

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Problems solved by technology

[0003] However, compared with the traditional land and air co-location method based on radio communication network, multi-AUV cluster co-location based on acoustic communication network has completely different technical characteristics and difficulties.

A single AUV only has local perception and communication capabilities, and underwater acoustic communication has problems such as narrow channel bandwidth, low data transmission rate, long measurement time, and insufficient real-time performance. Centralized decision-making and global decision-making methods are not suitable for the submarine environment next need

The deep-sea environment is complex and changeable, which leads to the communication of AUV cluster formations showing sparse and dynamic characteristics, and the message passing method in the distributed co-location method relies on tree or ring communication topology, so for AUV with dynamic topology Swarm formation is almost impossible to apply

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