首页|Current-Aided Multiple-AUV Cooperative Localization and Target Tracking in Anchor-Free Environments

Current-Aided Multiple-AUV Cooperative Localization and Target Tracking in Anchor-Free Environments

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  • 国家科技期刊平台
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In anchor-free environments, where no devices with known positions are available, the error growth of autonomous underwater vehicle (AUV) localization and target tracking is unbounded due to the lack of references and the accumulated errors in inertial measurements. This paper aims to improve the localization and tracking accuracy by involving current informa-tion as extra references. We first integrate current measurements and maps with belief propagation and design a distributed cur-rent-aided message-passing scheme that theoretically solves the localization and tracking problems. Based on this scheme, we propose particle-based cooperative localization and target track-ing algorithms, named CaCL and CaTT, respectively. In AUV localization, CaCL uses the current measurements to correct the predicted and transmitted position information and alleviates the impact of the accumulated errors in inertial measurements. With target tracking, the current maps are applied in CaTT to modify the position prediction of the target which is calculated through historical estimates. The effectiveness and robustness of the pro-posed methods are validated through various simulations by comparisons with alternative methods under different trajecto-ries and current conditions.

Anchor-freebelief propagationcooperative localiza-tioncurrent-aidedtarget tracking

Yichen Li、Wenbin Yu、Xinping Guan

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Department of Automation,Shanghai Jiao Tong University,Shanghai 200240

Key Laboratory of System Control and Information Processing,Ministry of Education of China,Shanghai Jiao Tong University,Shanghai 200240,China

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaOceanic Interdisciplinary Program of Shanghai Jiao Tong UniversityOceanic Interdisciplinary Program of Shanghai Jiao Tong UniversityOceanic Interdisciplinary Program of Shanghai Jiao Tong University

6220329961773264619220586180326161801295SL2020ZD206SL2020MS010SL2020MS015

2023

10.1109/JAS.2022.105989

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDCSCD北大核心EI
ISSN：2329-9266
年,卷(期)：2023.10(3)
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