主从式UUV群的随从UUV导航

单只水下机器人导航方法存在着各自的缺陷,无法满足低成本UUV群的作业需要。建立由一只具有高精度自主导航能力的主UUV和多只由低成本导航传感器的随从UUV组成的一主多从式UUV群,研究随从UUV导航方法。与前人的极坐标化方法不同,在直角坐标系下对随从UUV导航系统进行了能观性证明。随从UUV通过测距传感器测量自身到主UUV的距离,采用EKF算法进行位置估计,给出了机动航行方案。仿真实验证明了有效性。

Existing navigation methods of underwater vehicle include dependent navigation and independent navigation.They each has own defects which can t satisfy the requirements of independent navigation in low cost multiple UUVs.A navigation frame of main-slave UUVs with only one main UUVs is introduce briefly.Navigation algorithm for slave UUVs of low cost is presented for the navigation requirements of main-slave multiple UUVs in unknown current and the slave UUVs with navigation sensors of weak precision.This al...