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Cooperative navigation and localization for multiple UUVs

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Title:
Cooperative navigation and localization for multiple UUVs
Author(s):
ZHANG Li-chuan*;  XU De-min;  LIU Ming-yong and YAN Wei-sheng
Affilations:
Author(s):
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College of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, China
Keywords:
navigation system;  moving long baseline;  multi-UUVs;  cooperative navigation and localization;  extended Kalman filter (EKF)
分类号:
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DOI:
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Abstract:
The authors proposed a moving long baseline algorithm based on the extended Kalman filter (EKF) for cooperative navigation and localization of multi-unmanned underwater vehicles (UUVs). Research on cooperative navigation and localization for multi-UUVs is important to solve navigation problems that restrict long and deep excursions. The authors investigated improvements in navigation accuracy. In the moving long base line (MLBL) structure, the master UUV is equipped with a high precision navigation system as a node of the moving long baseline, and the slave UUV is equipped with a low precision navigation system. They are both equipped with acoustic devices to measure relative location. Using traditional triangulation methods to calculate the position of the slave UUV may cause a faulty solution. An EKF was designed to solve this, combining the proprioceptive and exteroceptive sensors. Research results proved that the navigational accuracy is improved significantly with the MLBL method based on EKF.

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Memo

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Last Update: 2010-05-02