|Table of Contents|

Click and Copy

Cooperative navigation and localization for multiple UUVs


Cooperative navigation and localization for multiple UUVs
ZHANG Li-chuan* XU De-min LIU Ming-yong and YAN Wei-sheng
College of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, China
navigation system moving long baseline multi-UUVs cooperative navigation and localization extended Kalman filter (EKF)
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.


[1] ROUMELIOTIS S I, BEKEY G A. Distributed multirobot localization[J]. IEEE Transactions on Robotics and Automation, 2002, 18(5): 781-795.
[2] ROUMELIOTIS S I, REKLEITIS I M. Analysis of multirobot localization uncertainty propagation[C]// International Conference on Intelligent Robots and Systems. Las Vegas, 2003: 1763-1770.
[3] WANG Ling. Research on multi-robot cooperative localization based on relative observation in unknown environment[D]. Changsha: National University of Defense Technology, 2006(in Chinese).
[4] WANG Ling, LIU Yunhui, WAN Jianwei, et al. Multi-robot cooperative localization based on relative bearing[J]. Chinese Journal of Seicnce and actuators, 2007, 40(4): 794-799(in Chinese).
[5] WANG Ling, SHAO Jinxin, WAN Jianwei, et al. Distributed entropy based relative observation selection for multi-robot localization[J]. Acta Electronica Sinica, 2007, 35(2): 333-336(in Chinese).
[6] WANG Ling, SHAO Jinxin, WAN Jianwei. Simultaneous localization for multi-robot based on relative observations[J]. Journal of National University of Defense Technology, 2006, 28(2): 67-72(in Chinese).
[7] YI Xiao, HE You, GUAN Xin. Application of multiple models algorithm to cooperative localization[J]. Geomatics and Information Science of Wuhan University, 2004, 29(8): 732-735(in Chinese).
[8] YI Xiao, HE You, GUAN Xin. Active and passive combined cooperative localization model[J]. Journal of University of Electronic Science and Technology of China, 2006, 35(4): 491-493(in Chinese).
[9] MOURIKIS A I, ROUMELIOTIS S I. Performance analysis of multirobot cooperative localization[J]. IEEE Transactions on Robotics, 2006, 22(4): 666-681.
[10] MOURIKIS A I, ROUMELIOTIS S I. Analysis of positioning uncertainty in reconfigurable networks of heterogeneous mobile robots[C]// IEEE International Conference on Robotics and Automation. New Orleans, 2004: 572-579.
[11] MACZKA D K, GADRE A S, STILWELL D J. Implementation of a cooperative navigation algorithm on a platoon of autonomous underwater vehicles[J]. Proceedings of MTS/IEEE, 2007, 3: 1-6.
[12] CURCIO J, LEONARD J, VAGANAY J, et al. Experiments in moving baseline navigation using autonomous surface craft[J]. Proceedings of MTS/IEEE, 2005, 1: 730-735.
[13] EUSTICE R M, WHITCOMB L L, SINGH H, et al. Recent advances in synchronous-clock one-way-travel-time acoustic navigation[J]. Proceedings of MTS/IEEE, 2006, 2: 1-6.
[14] XU Zhenzhen, FENG Xisheng. Current status and future directions of multiple UUV cooperation system[J]. Robot, 2007, 29(2): 186-192(in Chinese).
[15] MENG Xiaosong, LIU Jianhua, ZHANG Mingjun. Research on multiple autonomous underwater vehicles formation communication[J]. Ship Building of China, 2007, 48(4): 77-84(in Chinese).
[16] REEDER C, OKAMOTO A, ANDERSON M, et al. Two-hydrophone heading and range sensor applied to formation-flying for underwater AUV’s[C]// Oceans’04 Techno-Ocean’04 Conference Proceedings. Kobe, 2004: 517-523.
[17] WAITE A D. Sonar for practising engineers[M]. 3rd Ed. Beijing: Publishing House of Electronics Industry, 2004(in Chinese).


Last Update: 2010-05-02