本文選題：多自主水下航行器 + 水下障礙物��； 參考：《西北工業(yè)大學(xué)學(xué)報》2017年04期

【摘要】：相互間距離量測信息是多AUV協(xié)同定位的基礎(chǔ)。利用朗伯W函數(shù)求解AUV間的RSS距離估計,并通過TOA及RSS 2種距離量測結(jié)果的比較,引入一種障礙物引起的非視距(ONLOS)量測識別方法。在此識別基礎(chǔ)上,建立了多AUV間距離量測動態(tài)變化模型,并利用Kalman濾波方法設(shè)計了ONLOS距離量測誤差平滑算法。仿真結(jié)果表明,該算法可有效提高領(lǐng)航與跟隨AUV間的相對距離量測估計精度,減輕ONLOS量測誤差對多AUV協(xié)同定位性能的影響。
[Abstract]:The distance measurement information between each other is the basis of multiple AUV cooperative positioning. The RSS distance estimation between AUV is solved by using the Lambert W function. By comparing the results of TOA and RSS, a non-line-of-sight measurement identification method caused by obstacles is introduced. On the basis of this recognition, the dynamic variation model of distance measurement between multiple AUV is established, and the ONLOS distance measurement error smoothing algorithm is designed by using Kalman filtering method. Simulation results show that the algorithm can effectively improve the accuracy of relative distance measurement between pilotage and follow AUV, and reduce the influence of ONLOS measurement error on the performance of multi- co-location.
【作者單位】： 西北工業(yè)大學(xué)航海學(xué)院;
【基金】：國家自然科學(xué)基金(61273333)資助
【分類號】：TN929.3;U666
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本文編號：1848450