A cooperative navigation approach and its verification of USVs with leader-fellower structure

作者：Xu, Bo; Xiao, Yong Ping; Gao, Wei; Liu, Ya Long; Yang, Jian

来源：Acta Armamentarii, 2014, 35(11): 1836-1845.

DOI：10.3969/j.issn.1000-1093.2014.11.015

• Cooperative localization
• Cooperative navigations
• Leader-follower structures
• Localization technologies
• Observability analysis
• Science and Technology
• State
• space models
• Unmanned surface vessels

The cooperative navigation and localization technology of multi-USVs is an important way to solve the navigation problem in complex environment. For the cooperative navigation and localization of multi-USVs with leader-follower structure, a state space model of cooperative localization is built, and then a linear model is obtained by expanding the nonlinear model around filter value. An extended Kalman filter is designed to fuse the sensor information to locate the slave USV in real time. At last, the relationship among USV distances, angle and accuracy is researched, and the observability analysis of cooperative navigation filter algorithm is done with Lie algebra. The results show that the navigation accuracy is improved effectively by controlling the variations of distances and angles of leader and slave USVs between two adjacent moments, which is verified by simulation and experiment.

• 出版日期2014
• 单位哈尔滨工程大学