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Research on Adaptive Cooperative Positioning Algorithm for Underwater Robots Based on Dolphin Group Cooperative

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This study introduces an adaptive algorithm for Unmanned Underwater Vehicle (UUV) cooperative positioning, improving accuracy in noisy ocean environments. The novel method enhances robustness against acoustic signal disturbances, reducing positioning errors effectively.

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Area of Science:

  • Robotics and Autonomous Systems
  • Marine Engineering
  • Signal Processing

Background:

  • Cooperative positioning for Unmanned Underwater Vehicles (UUVs) is crucial for complex marine operations.
  • Underwater acoustic ranging is prone to heavy-tailed noise due to environmental factors, limiting positioning accuracy.
  • Nonlinearity and limited observability further challenge UUV cooperative positioning.

Purpose of the Study:

  • To develop a robust cooperative positioning algorithm for UUVs in challenging marine environments with heavy-tailed noise.
  • To enhance the precision and reliability of UUV navigation through adaptive data fusion.

Main Methods:

  • A Factor Graph-based Adaptive Cooperative Positioning Algorithm (FGAWSP) was developed.
  • A factor graph model was constructed to represent probabilistic dependencies in UUV positioning.
  • An adaptive weighting mechanism integrated with a product algorithm was designed for robust estimation.

Main Results:

  • The proposed FGAWSP algorithm demonstrated effective handling of anomalous range values.
  • Online assessment of residual information allowed dynamic adjustment of measurement fusion weights.
  • Experimental results showed a 22.31% reduction in positioning errors compared to traditional methods.

Conclusions:

  • The Factor Graph-based Adaptive Cooperative Positioning Algorithm (FGAWSP) offers a robust solution for UUV cooperative positioning in heavy-tailed noise environments.
  • The adaptive weighting mechanism significantly improves positioning accuracy and reliability.
  • The findings validate the effectiveness of the proposed method for advanced marine robotics applications.