UUVs集群协同定位的分散式增广信息滤波方法

doi:10.11947/j.AGCS.2022.20210144

测绘学报 ›› 2022, Vol. 51 ›› Issue (2): 182-191.doi: 10.11947/j.AGCS.2022.20210144

UUVs集群协同定位的分散式增广信息滤波方法

杜祯强^1,2, 柴洪洲², 向民志², 章繁², 黄紫如², 朱华巍³

1. 自然资源部海洋测绘重点实验室, 山东青岛 266590;
2. 信息工程大学地理空间信息学院, 河南郑州 450001;
3. 中国电子科技集团公司第二十八研究所, 江苏南京 210007

收稿日期:2021-03-31 修回日期:2021-11-08 发布日期:2022-02-28
通讯作者: 柴洪洲 E-mail:chaihz1969@163.com
作者简介:杜祯强(1996-),男,博士生,研究方向为水下UUV协同定位。E-mail:zhenqiangdu_geodesy@outlook.com
基金资助:
国家自然科学基金（42074014；41604013；41904039）；自然资源部海洋测绘重点实验室开放基金（2021B15）

Decentralized extend information filter for cooperative localization of UUVs

DU Zhenqiang^1,2, CHAI Hongzhou², XIANG Minzhi², ZHANG Fan², HUANG Ziru², ZHU Huawei³

1. Key Laboratory of Ocean Geomatics, Ministry of Natural Resources, Qingdao 266590, China;
2. Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China;
3. The 28 th Research Institute of China Electronics Technology Group Corporation, Nanjing 210007, China

Received:2021-03-31 Revised:2021-11-08 Published:2022-02-28
Supported by:
The National Natural Science Foundation of China (Nos. 42074014; 41604013; 41904039); The Key Laboratory of Ocean Geomatics, Ministry of Natural Resources (No. 2021B15)

摘要/Abstract

摘要： 无人水下航行器集群协同作业能够扩展单体UUV的感知范围，实现单体UUV无法或难以完成的复杂任务。由于水下环境的复杂性及UUV各传感器存在观测限制、时延等问题，传统分散式Kalman滤波方法所需要的庞大实时通信在实际中难以实现，使得当前UUVs集群协同定位为不严密的解算。本文提出一种以增广信息滤波为核心的UUVs集群协同定位分散式滤波方法，在顾及算法严密性的基础上实现了UUVs分散式协同定位。每个UUV平台根据本地的传感器数据建立自己的状态链，同时广播自己的观测信息，各个平台协同完成信息矩阵的Cholesky修正。基于严密的数理理论证明了所提出的UUVs协同定位的分散式滤波与集中式滤波的一致性，并与传统方法进行对比分析。理论仿真分析表明，较之传统方法单体UUV的观测更新或两个UUV之间的相互观测都会导致UUVs集群全体状态更新，本文方法使得观测更新仅与观测直接涉及的UUV相关，有效地降低了通信载荷，实现观测信息的即插即用，扩展性良好。

关键词: UUV, 协同定位, 增广信息滤波, 分散式, Cholesky

Abstract: Compared with the single UUV, the cooperative work of unmanned underwater vehicle (UUV) can expand the sensing range and accomplish complex tasks.Due to the complexity of the underwater environment and the limitation of UUV sensors, the huge real-time communication required by the traditional Kalman filtering method is difficult to realize in the underwater environment,which makes the result of current cooperative localization is not rigorous. To solve the problem, a new decentralized extend information filter method for UUVs cooperative localization is proposed. Based on the rigorous theory, the distributed cooperative localization of UUVs is realized.Each UUV establishes its own state chain according to the local sensor data, broadcasts its observation information, and cooperates to complete the Cholesky correction. The consistency between the proposed decentralized filter and centralized filter is proved, and the comparison experiment between the new method and the traditional method is carried out.Theoretical simulation analysis shows that,compared with the traditional methods that the observation updating of the single UUV or the two UUVs will result in the observation updating of the whole UUVs, the new method realizes the observation updating only related to the UUVs that directly involved in the observation.The proposed method reduces the communication payloads and has good expansibility for observation information.

Key words: UUV, cooperative location, extent information filter, Decentralized, Cholesky

中图分类号:

P228

杜祯强, 柴洪洲, 向民志, 章繁, 黄紫如, 朱华巍. UUVs集群协同定位的分散式增广信息滤波方法[J]. 测绘学报, 2022, 51(2): 182-191.

DU Zhenqiang, CHAI Hongzhou, XIANG Minzhi, ZHANG Fan, HUANG Ziru, ZHU Huawei. Decentralized extend information filter for cooperative localization of UUVs[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(2): 182-191.

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UUVs集群协同定位的分散式增广信息滤波方法

Decentralized extend information filter for cooperative localization of UUVs

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