Volume 38, Number 4, August 2020
|Page(s)||755 - 765|
|Published online||06 October 2020|
Analyzing of Cooperative Locating Error and Formation Configuration of AUV Based on Geometric Interpretation
School of Marine Engineering, Northwestern Polytechnical University, Xi'an 710072, China
2 State Key Laboratory of Deep-Sea Manned Vehicles, China Ship Scientific Research Center, Wuxi 214082, China
Because the evaluation of the location performance of AUVs with the lower bound of the Cramer-Rao inequality is not intuitive, the geometric interpretation method is proposed based on geometric ellipse. The Fisher information matrix is used to replace the Cramer-Rao inequality. The priori information matrix and the measurement information matrix are synthesized into the posterior information matrix through singular value decomposition. The geometric ellipse is used to geometrically represent the posterior information matrix. The posterior information ellipse area is used to establish the location performance evaluation function. By analyzing the performance evaluation function, the optimal formation configurations of single-master, dual-master and three-master AUVs are designed. The implementation of the special formation configuration for the three-master AUV formation proposed in the paper is easier, while the location performance of the optimal formation configuration is not much inferior. The simulation results verify that the optimal formation configuration has a higher location accuracy and that the special formation configuration is effective.
Key words: autonomous underwater vehicles / information ellipse / cooperative location / formation configuration / location performance
关键字 : 集群AUV / 信息椭圆 / 协同定位 / 编队构型 / 定位性能
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
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