Cooperative Navigation And Localization Research For Multiple Autonomous Underwater Vehicle Based On Master

Autonomous Underwater Vehicle(AUV)has become an important field in marine technology research in many countries.At present,multi-AUV cooperative navigation system has gradually become a dominant direction in the development of underwater vehicles.MultiAUV cooperative navigation and localization technology is to use a minority number of the Master AUVs equipped with high-precision navigation equipment to help the Slave AUV only equipped with low precision,low-cost navigation equipment achieve high-precision localization.In this paper,the cooperative navigation and localization based on the Master is researched,including the configurations of multi-AUV cooperative navigation system,the combined correction method of the Master,the principle and models of the single ?multi-Masters cooperative navigation system,three cooperative navigation algorithms separately based on different filtering algorithms,observability of the system,and cooperative navigation under the ocean current.Firstly,the principle of related structure elements and the integrated navigation correction method of the Master AUV in Master-Slave cooperative navigation system are researched.And the localization models in single Master and multi-Masters cooperative navigation system are established separately.Secondly,based on the correlation theory of observation,the observability of cooperative navigation system is analyzed and compared separately in the case without ocean current and the case with current.And simulation cases are designed to verify.Then,three cooperative navigation algorithms based on the Extended Kalman,Filter(EKF)? the Unscented Kalman Filter(UKF)? the Cubature Kalman Filter(CKF)is studied.Based on the basic principle of three filtering algorithms,the steps of corresponding cooperative navigation algorithms are designed.Three algorithms are compared and analyzed in terms of theoretical essence,estimation accuracy,applicability and stability.A simulation example is designed to verify the correctness of the navigation algorithms.Finally,cooperative navigation algorithm based on the ant colony and CKF is proposed to achieve the localization of a single Master cooperative system in the influence of ocean current.The improved ant colony algorithm is used to optimize the noise variance matrices of CKF.And simulations case are designed to verify its better effectiveness.