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Consistent Extended Kalman Filter-Based Cooperative Localization of Multiple Autonomous Underwater Vehicles
Fubin Zhang1, Xingqi Wu1, Peng Ma2
1School of Marine Science and Technology, Northwestern Polytechnical University, 127 West Youyi Road, Xi'an 710072, China.
Sensors (Basel, Switzerland)
|June 24, 2022
Summary
This study introduces a consistent Extended Kalman Filter (EKF) for multi-AUV co-location, improving state estimation consistency. The new method ensures stable synchronization between follower and leader autonomous underwater vehicles (AUVs).
Area of Science:
- Robotics
- Navigation Systems
- Control Theory
Background:
- Co-locating multiple autonomous underwater vehicles (AUVs) presents challenges in state estimation consistency.
- Standard Extended Kalman Filter (EKF) methods can lead to inconsistent state estimation in multi-AUV systems.
Purpose of the Study:
- To propose a novel method for multi-AUV co-location using a consistent Extended Kalman Filter (EKF).
- To address and resolve the issue of inconsistent state estimation in cooperative positioning of multiple AUVs.
Main Methods:
- Established a dynamic model for a cooperative positioning system follower AUV.
- Analyzed the observability of standard linearization estimators in lead-follower multi-AUV systems.
- Designed a consistent EKF algorithm by correcting linearized measurement values in the Jacobian matrix.
Main Results:
- Demonstrated that standard EKF leads to inconsistent state estimation for multi-AUV cooperative positioning.
- Simulations showed the consistent EKF algorithm significantly improves state estimation accuracy.
- The consistent EKF algorithm enables follower AUVs to maintain stable synchronization with leader AUVs.
Conclusions:
- The proposed consistent EKF algorithm effectively resolves inconsistent state estimation in multi-AUV co-location.
- This method enhances the stability and accuracy of cooperative positioning for autonomous underwater vehicles.
- The consistent EKF provides a robust solution for reliable multi-AUV navigation.
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