Cooperative Navigation Algorithm for Two Leaders GUUV

摘要：

In this paper, we propose a moving long baseline algorithm based on double acoustic measurement for cooperative navigation of Group Unmanned Underwater Vehicle. Research on cooperative navigation of GUUV is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the Leaderfollow structure, the leader UUV is equipped with high precision navigation system, and the follow UUV is equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. Traditionally geometry triangulation method is used to calculate the position of follow UUV, the method may cause fault error solution. Double acoustic measurement method was designed, which fused the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively.

关键词： Autonomous Underwater Vehicles(AUV) Cooperative Navigation Geometry Triangulation Double Acoustic measurement

作者: ZHANG Lichuan XU Demin LIU Mingyong

作者单位: Northwestern Polytechnical University, Xian, China

会议类型: 国际会议

会议名称: 2011 Fourth International Conference on Intelligent Computation Technology and Automation(2011年第四届智能计算技术与自动化国际会议 ICICTA 2011)

会议地点: 深圳

会议语种:英文

页码: 970-973

在线出版日期: 2011-03-28（万方平台首次上网日期，不代表论文的发表时间）