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针对多自主水下航行器(AUV)编队中因领航AUV一时无法借助外部有源位置信息进行实时校准,自身定位误差逐渐增大可能导致的编队解体问题,提出了一种基于距离测量双领航AUV间协同导航算法.在给出领航AUV航位推算误差模型的基础上,首先设计两个领航AUV分别基于忽略对方位置误差的估计自身误差的滤波算法,然后提出其位置误差的分别修正算法,最后通过对位置误差估计的可观测性分析,指出在直线航行条件下两个领航AUV可通过加、减速进行相对机动,保证其可观测性.仿真结果表明:两个领航AUV存在航位推算位置误差的情况下,随着滤波时间增加其定位误差可逐渐趋同,并收敛到其经、纬度定位误差的均值,验证了本文所提协同导航算法的可行性和有效性.
In order to solve the problem of disintegration of formations caused by the fact that Pilot AUV can not be calibrated in real time with the help of external active position information and the self-alignment error of AUV can be caused during fleet formation of AUV, a dual-pilot AUV Based on the error estimation model of navigating AUV dead reckoning, the paper first designs two filtering algorithms based on estimating the self-errors of two pilot AUVs respectively, and then proposes the algorithm of their position error correction respectively. Finally, Through the observability analysis of the position error estimation, it is pointed out that under the conditions of straight-line navigation, the two pilot AUVs can be relatively maneuvered by adding and decelerating to ensure their observability. The simulation results show that the two pilot AUVs have position error estimation , The localization error converges gradually with the increase of filtering time, and converges to the mean value of the latitude and longitude positioning errors. The feasibility and validity of the cooperative navigation algorithm proposed in this paper are verified.