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多AUV协同导航时间延迟误差机理分析与补偿算法

DOI: 10.13195/j.kzyjc.2013.1738, PP. 9-16

Keywords: 自主式水下潜器,协同定位,量测更新,延迟扩展卡尔曼滤波

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Abstract:

定位能力是自主水下潜器(AUV)工作的基础,多AUV协同定位相比单艇定位具有更多的优势.但在多传感器信息融合时,由于各传感器处理信息所用时间不同,而且艇间信息传输需要时间,导致滤波量测量存在延迟,严重影响了协同导航的滤波精度.为此,首先对广播式协同导航时间延迟误差机理进行深入分析,然后提出一种基于量测更新的协同定位方法,最后完成了相应的仿真验证.结果表明,基于量测更新的协同定位方法大大提高了多水下无人艇协同定位精度.

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