针对水下AUV集群协同定位，常规算法当领航AUV节点密度稀疏，普通待定位AUV节点不能够接收到足够领航节点信号时，将导致定位误差较大或者始终无法定位的问题。提出一种基于自适应残差加权的AUV集群分布式协同定位算法（ARW-UWASN），通过分布式逐级定位，对所有有效的潜在位置利用残差赋以权值，结合对应参考节点位置信息，实现对待定位节点位置的自适应加权估计。仿真结果表明，该算法与常规算法相比，减小了节点能量消耗，有效地提高了定位精度和定位覆盖率。
For underwater AUV cluster cooperative localization, when the density of leader AUV nodes is too sparse, the follower AUV nodes to be located based on the conventional algorithm cannot receive enough signals of leader nodes, leading to larger positioning errors or inability to be located. In this paper, an AUV cluster distributed cooperative localization algorithm based on adaptive residual weighting is proposed(ARW-UWASN). Through the distributed hierarchical localization, the adaptive weighting estimation for the nodes to be located can be realized by applying residual weighted values for all valid potential locations and taking into consideration the corresponding reference node location information. The simulation results show that, compared with conventional algorithms, the algorithm proposed in this paper reduces the energy consumption of nodes and effectively improves the accuracy and coverage of localization.
2022,44(18): 101-105 收稿日期：2021-11-08
DOI：10.3404/j.issn.1672-7649.2022.18.020
分类号：U674.941
基金项目：装备预研基金项目（61404150301）
作者简介：何桂萍(1986-),女,硕士,高级工程师,研究方向为水下导航定位技术
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