异步AUV的合作定位使用在水下无环境中通信的时间差异
IEEE transactions on cybernetics
|September 4, 2024
概括
本研究引入了时间差通信 (TDOC) 以改善自主水下车辆 (AUV) 合作本地化 (CL) 尽管时钟异步. 新的iTDOC-CL-BREC方法在具有挑战性的水下环境中提高了准确性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 海洋工程 海洋工程
- 导航系统 导航系统
背景情况:
- 自主水下车辆 (AUV) 的时钟异步显著降低了合作定位 (CL) 的准确性,特别是在没有的水下环境中.
- 现有的方法与固有的时钟偏移和漂移作斗争,限制了可靠的AUV导航.
研究的目的:
- 为准确的AUV合作本地化 (CL) 开发一种新的方法,克服时钟异步问题.
- 引入一个新的相对测量表示和一个强大的CL模型用于水下环境.
主要方法:
- 一个新的相对测量,通信时间差 (TDOC),旨在减轻使用单向AUV通信之间的异步效应.
- 建立了一个联合的时空CL模型 (TDOC-CL),将非线性观测转化为通过代优化解决的加权最小平方 (WLS) 问题.
- 开发了一种增强的方法,即iTDOC-CL-BREC,以进一步弥补相结合的不确定性,如测量偏差和位置错误.
主要成果:
- 拟议的TDOC-CL方法有效地使用TDOC测量处理大异步.
- 与最先进的技术相比,iTDOC-CL-BREC方法在模拟和实地实验中显示出更高的定位精度.
- 性能使用衍生混合Cramér-Rao下限 (HCRLB) 进行了基准测试.
结论:
- 在非同步的情况下,TDOC-CL方法,特别是 iTDOC-CL-BREC 变体,在 AUV 合作本地化方面取得了重大进展.
- 这种方法对于长时间的AUV任务尤其有利,在具有挑战性的水下条件下需要高定位精度.
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