为解决多水下无人航行器（UUV）协同定位系统因水声环境复杂，水声距离观测信息受异常噪声干扰，导致采多UUV协同定位效果变差的问题，本文将M估计算法应用于UUV协同定位中，提出一种基于M估计多UUV协同定位算法。半实物仿真试验结果表明，相较于传统基于扩展卡尔曼滤波算法，所提算法可将定位精度提升30%左右。
In order to solve multiple unmanned underwater vehicles (UUV) collaborative positioning system for complex underwater acoustic environment and abnormal noise interference to acoustic distance observation, this paper adopts the M-estimation into the UUVs co-location, and proposed a new multiple UUVs collaborative positioning algorithm. The semi-physical simulation results show that compared with the traditional Extended Kalman Filter (EKF), the proposed algorithm can improve the positioning accuracy by about 30%.
2020,42(4): 123-126,130 收稿日期：2019-07-26
DOI：10.3404/j.issn.1672-7649.2020.04.024
分类号：TP242.3
作者简介：李杨(1987-)，博士研究生，工程师，主要从事船舶导航与操纵控制技术论证与研究
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