基于广播通信的多AUV协同导航技术研究

项目名称： 基于广播通信的多AUV协同导航技术研究

项目编号： No.61273333

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 张福斌

作者单位： 西北工业大学

项目金额： 82万元

中文摘要： 本项目研究基于广播通信的多AUV协同导航问题。由于AUV自主定位误差随时间增大、自身时钟存在漂移，以及AUV间信息传播的载体水声信号存在数据率低、带宽窄、误码率高、多路径效应等原因，易造成领航AUV无法满足长航时高精度辅助定位需求、依靠单程通讯时延测距误差大、队形难以维持、通信混乱等。 本项目拟通过研究：（1）广播模式下领航AUV间、领航与跟随AUV间的协同导航模型与算法；（2）领航AUV间、领航与跟随AUV间的时间同步算法；（3）领航AUV队形对整体定位精度的影响；（4）多AUV协作系统定位误差后处理修正算法等。进而解决领航AUV误差随时间发散快、信息流转复杂、AUV间时钟不同步等问题，实现AUV编队的定位误差抑制及趋同，提高AUV编队整体定位精度。建立一种跟随AUV数量不受限制，通信简单、易实现的多AUV协同导航方案，满足深远海、大范围、长时间、隐蔽探测的需求。

中文关键词： 自主水下航行器；导航；协同；通信；广播

英文摘要： This project is focused on the cooperative navigation of multiple autonomous underwater vehicles (AUVs) based on broadcast communication. Due to the fact that navigation error growing、the clock excursion and the underwater acoustic communication signals have many problems, e.g., low data rate, narrow bandwidth, multi-path effect, etc, the leader AUVs will not gratify the need of long-playing、high-precision navigation, the error when measuring distance will be inestimable, the AUVs' order will be difficult to keep and the communication will be disordered. In this project , we will accomplish following research: (1)the model and arithmetic within the leader AUVs、the leader and follower AUVs based on broadcast communication; (2)the arithmetic of time synchronization within the leader AUVs、the leader and follower AUVs; (3) the impact of the follower AUVs' order on navigation precision; (4)the arithmetic about error amending of the multiple AUVs, and resolve many problems, e.g., reducing the speed of the navigation error growing of leader AUVs、advantaging communication and achieving the time synchronization、error convergent within AUVs. As a result, it will improve the navigation precision of all AUVs. At last, a stable and feasible multiple AUVs cooperation navigation strategy is proposed, which is scalable of

英文关键词： Autonomous Underwater Vehicles；Navigation；Cooperative；Communication；Broadcast