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Title:
MEASUREMENT ABNORMALITY-CONSIDERED COOPERATIVE LOCALIZATION METHOD FOR CLUSTER TYPE MULTI-DEEP-SEA UNDERWATER VEHICLE
Document Type and Number:
WIPO Patent Application WO/2022/088797
Kind Code:
A1
Abstract:
A measurement abnormality-considered cooperative localization method for a powerful cluster type multi-deep-sea underwater vehicle. A state error equation and a measurement equation considering an abnormality of relative distance measurement information between master and slave deep-sea underwater vehicles are constructed in a local geographic coordinate system, thus providing a mathematical model for the implementation of cooperative localization of multiple deep-sea underwater vehicles.Then, according to the features of cooperative localization of multiple deep-sea underwater vehicles and the Krein space linear estimation theory, multiplicative noise and a parameter uncertainty are introduced, and a robust posteriori filtering equation for collaborative navigation of a new-form Krein space is designed under the condition of taking a measurement abnormality into consideration.Moreover, an adaptive algorithm is designed to perform on-line estimation and compensation on a parameter uncertainty of filter modeling, so as to improve the matching degree between a cooperative localization physical process and the constructed mathematical model.Finally, high-precision and high-reliability cooperative navigation and localization of the whole powerful cluster type multi-deep-sea underwater vehicle is implemented.

Inventors:
CHEN XIYUAN (CN)
WANG JUNWEI (CN)
MA ZHEN (CN)
FANG LIN (CN)
Application Number:
PCT/CN2021/108864
Publication Date:
May 05, 2022
Filing Date:
July 28, 2021
Export Citation:
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Assignee:
UNIV SOUTHEAST (CN)
International Classes:
G01C21/16; G01C21/20; G01C25/00; G01S5/22; G01S19/45
Foreign References:
CN112284384A2021-01-29
CN109974695A2019-07-05
CN106568442A2017-04-19
CN110579740A2019-12-17
CN108827305A2018-11-16
CN109443379A2019-03-08
CN111504324A2020-08-07
CN109829938A2019-05-31
Attorney, Agent or Firm:
NANJING ZHONGLIAN PATENT AGENCY CO., LTD. (CN)
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