The Research Of Multi-AUV Cooperative Navigation Method Based On Multi-source Information Fusion

Multi-AUV cooperative navigation technology is a new type of underwater navigation technology developed with the extensive application of multi-AUV collaboration.It not only can improve the positioning accuracy of single AUV,but also has the advantages of low cost,good reliability and no restriction of area.So it has become a hot research area in underwater navigation.However,due to the complexity of the underwater environment and the characteristics of underwater acoustic communication technology,the cooperative navigation of multi-AUV cooperative navigation has its own unique technical difficulties compared with that of on-land(or aerial)robots.In this paper,the multi-AUV cooperative navigation algorithm based on the relative distance measurement between AUVs is studied in this paper,based on the actual demand of multi-AUV cooperative navigation performance and the multi-source fusion theory.In this paper,the main research work is as follows:1.For autonomous underwater vehicle,several navigation methods are introduced in detail,such as inertial navigation,reckoning navigation and underwater acoustic positioning technology.Firstly,the coordinate system commonly used in the course of inertial navigation is introduced.Then the working principle of the above three kinds of navigation methods is introduced,and the three navigation methods are analyzed and compared according to their advantages and disadvantages.2.A detailed study of multi-AUV collaborative navigation technology.Firstly,the communication and distance measurement method of underwater robots are introduced.Then,the working principle of multi-AUV cooperative navigation technology is introduced,and the modeling and analysis of multi-AUV collaborative navigation system are carried out.Based on the established system model,the observability of the system is analyzed.Finally,the simulation on the MATLAB platform shows the advantages of multi-AUV collaborative navigation compared to single AUV autonomous navigation.3.In-depth study of multi-source information fusion theory.Firstly,we study three widely used fusion methods: centralized fusion,distributed fusion and distributed fusion.Secondly,we study the fault detection and isolation method of multi-sensor system.Finally,based on the research results,Multi-source information fusion theory.The distributed detection fusion algorithm of parallel structure,the distributed detection fusion algorithm of serial structure,and the distributed detection fusion algorithm of tree structure are introduced respectively.4.The simulation of the design algorithm validation.Based on the above research andanalysis,the navigation algorithms for the single-pilot cooperative navigation system and the dual-pilot cooperative navigation system are designed respectively,and the simulation is carried out on the MATLAB platform to prove the effectiveness of the algorithm.Then,a collaborative navigation algorithm based on the expression of moment parameters and a collaborative navigation algorithm based on the expression of information parameters are designed for the parallel collaborative navigation system.Simulation is carried out on the MATLAB platform and the shortcomings of these two methods are found.The decentralized state estimation cooperative navigation algorithm is proposed and verified by MATLAB simulation,which proves that the method can make up the deficiency of the first two methods.Finally,the simulation and verification of the fault detection and isolation method for the parallel cooperative navigation system is carried out,which proves the feasibility of the method.