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Vol.36, No.7
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Systems Engineering — Theory & Practice July, 2016
doi: 10.12011/1000-6788(2016)07-1898-07
: TP391
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A cooperative navigation algorithm for two leader AUVs based on
range measurements
ZHANG Fubin, MA Peng, LIU Shuqiang
(School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China)
Abstract Without the real-time exteroceptive position information to correct, the dead-reckoning error
of leader autonomous underwater vehicle (AUV) from the multiple AUV formation will increase gradually,
which can lead to the formation collapse. To address this issue, a cooperative navigation algorithm for two
leader AUV based on the range measurement is proposed. On the basis of building the dead-reckoning
error model, a filtering algorithm is designed to estimate the position errors of two leader AUV, which is
based on ignoring each other’s position error. And then we put forward the correction algorithm of position
error for each leader AUV. Finally we analyse the observability about estimated position error, and the
analytic result point out that the cooperative navigation system is observability when two leader AUV
move by the way of acceleration and deceleration along the straight line trajectory. The simulation results
show that: the position errors of two leader AUV with initial position error and dead-reckoning error will
vary along the same direction, and converge to the average of their longitude and latitude errors with the
growth of filtering time, which verify that the proposed cooperative navigation algorithm is feasible and
effective.
Keywords autonomous underwater vehicle; cooperative navigation; range measurement; observability
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(61273333)
Foundation item: National Natural Science Foundation of China (61273333)
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, 2016, 36(7):
1898–1904.
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: Zhang F B, Ma P, Liu S Q. A cooperative navigation algorithm for two leader AUVs based on range measure-
ments[J]. Systems Engineering — Theory & Practice, 2016, 36(7): 1898–1904.
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