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兵工学报  2012 

双领航多自主水下航行器移动长基线定位最优队形研究

, PP. 1020-1024

Keywords: 自动控制技术,自主水下航行器,移动长基线,最优队形,定位性能

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Abstract:

?基于距离量测提出了多自主水下航行器(AUV)移动长基线定位系统,融合内部与外部传感信息进行从AUV水下定位。针对定位系统中AUV队形对定位性能造成的影响,基于Cramer-Rao下界(CRLB)和Fisher信息阵(FIM)建立了多AUV移动长基线定位系统定位性能评价函数,通过评价函数极大化实现定位性能最优化。重点研究了双领航者定位系统的最优队形,其最优队形为两个领航AUV与从AUV以90°分离角相对运动,且最优队形与AUV间的距离无关。仿真实验分别从间距及分离角两个方面对结论进行了验证。

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