基于等价Fisher信息矩阵的AUV集群网络导航精度分析
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摘要
针对集群自主水下航行器(AUV)节点间的信息传递融合对协同定位精度的影响问题,文中提出4种AUV集群的网络导航模型,并引入等价Fisher信息矩阵等相关理论,对信息在节点间的传递融合进行分析,得出了影响集群AUV定位误差的因素,并设计了定位精度较高的编队构型,最后通过理论和仿真验证了当跟随AUV节点之间也有信息融合时,利用整个编队的信息对跟随AUV的位置进行估计,可以提高跟随AUV的定位精度。
For the cooperative location system of autonomous undersea vehicle(AUV) swarm, the positioning accuracy is mainly affected by the transmission and fusion of information among AUV swarm nodes. In this paper, four network navigation models of AUV swarm are proposed, and the theory of equivalent Fisher information matrix is employed to analyze the transmission and fusion of information among nodes. The factors influencing the positioning error of AUV swarm are obtained, and a formation configuration with higher positioning accuracy is designed. Theoretical analysis and simulations prove that when there is information fusion among the follower AUV nodes, the follower AUVs can get higher positioning accuracy by using the information of entire formation to estimate the position of the follower AUVs.
For the cooperative location system of autonomous undersea vehicle(AUV) swarm, the positioning accuracy is mainly affected by the transmission and fusion of information among AUV swarm nodes. In this paper, four network navigation models of AUV swarm are proposed, and the theory of equivalent Fisher information matrix is employed to analyze the transmission and fusion of information among nodes. The factors influencing the positioning error of AUV swarm are obtained, and a formation configuration with higher positioning accuracy is designed. Theoretical analysis and simulations prove that when there is information fusion among the follower AUV nodes, the follower AUVs can get higher positioning accuracy by using the information of entire formation to estimate the position of the follower AUVs.
引文
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[2]刘亚龙.多水下航行器协同定位算法研究[D].哈尔滨:哈尔滨工程大学,2015.
[3]万九卿,布少聪,钟丽萍.基于混合动态信念传播的多无人机协同导航算法[J].北京航空航天大学学报,2016,42(5):934-944.Wan Jiu-qing,Bu Shao-cong,Zhong Li-ping.Cooperative Localization Algorithm of Multi-UAVs Based on Dynamic Hybrid Belief Propagation[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(5):934-944.
[4]Shen Y,Mazuelas S,Win M Z.Network Navigation:Theory and Interpretation[J].IEEE Journal on Selected Areas in Communications,2012,30(9):1823-1834.
[5]Mazuelas S,Shen Y,Win M Z.Spatio-temporal Information Coupling in Cooperative Network Navigation[C]//Global Communications Conference(GLOBECOM).Anaheim,California,USA:IEEE,2012.
[6]Shen Y,Win M Z.Fundamental Limits of Wideband Localization Accuracy via Fisher Information[C]//IEEE Wireless Communications&Networking Conference.Kowloon,China:IEEE,2007.
[7]Shen Y,Wymeersch H,Win M Z.Fundamental Limits of Wideband Localization:Part II:Cooperative Networks[J].IEEE Transactions on Information Theory,2010,56(10):4981-5000.
[8]张立川,刘明雍,徐德民,等.多UUV协同导航与定位研究(英文)[J].系统仿真学报,2008,20(19):5342-5344.Zhang Li-chuan,Liu Ming-yong,Xu De-min,et al.Cooperative Localization and Navigation for Multiple UUVs[J].Journal of System Simulation,2008,20(19):5342-5344.
[9]吕学斌,周群彪,陈正茂,等.高斯混合概率假设密度滤波器在多目标跟踪中的应用[J].计算机学报,2012,35(2):397-404.LüXue-Bin,Zhou Qun-Biao,Chen Zheng-Mao,et al.The Gaussian Mixture Probability Hypothesis Density Filter and Its Application to Multi-Target Tracking[J].Chinese Journal of Computers,2012,35(2):397-404.
[10]Ho Y,Lee R.A Bayesian Approach to Problems in Stochastic Estimation and Control[J].IEEE Trans.automat.control,1964,9(4):333-339.
[11]Edwards D B,Bean T A,Odell D L,et al.A Leader-Follower Algorithm for Multiple AUV Formations[C]//Autonomous Underwater Vehicles,IEEE/OES.Sebasco,ME,USA:IEEE,2004.
[12]Bahr A,Leonard J J,Fallon M F.Cooperative Localization for Autonomous Underwater Vehicles[J].International Journal of Robotics Research,2009,28(6):714-728.