Research On Optimization Method Of Multi-AUV Collaborative Navigation And Positioning Performance In Complex Environment

With the development of China’s maritime power strategy,autonomous underwater vehicle has been widely used in the territory of resource exploration and underwater reconnaissance.In the face of increasingly complex mission requirements,using multiple Autonomous Underwater Vehicle(AUV)formation work together to execute the task is the inevitable trend.however,accurate navigation and positioning is the prerequisite for the multi-AUV formation to execute the task efficiently and reliably,so the multi-AUV collaborative navigation technology has very important significance,in recent years gradually become the research hotspot in the field of AUV navigation.Multi-AUV collaborative navigation is a form of navigation that use the navigation information of high-precision AUV to improve navigation positioning accuracy of lowprecision AUV,and the low-precision AUV receive high precision location and range of observation from high-precision AUV,can prevent the position error accumulation and keep bounded positioning error after combing its own navigation information of dead reckoning to complete information fusion.However,in the actual complex environment,the underwater acoustic channel is a channel with high noise and strong interference.In the transmission process between the master AUV and slave AUV,the observation information may be interfered by abnormal noise,resulting in the occurrence of wild values of the observed values or its distribution of noise is non-gaussian,which further leads to the decline in the accuracy of collaborative navigation.In addition,because of the influence of the complicated hydrogeological condition,the observation noise statistical characteristics cannot be determined in the process of information fusion,or set an accurate variance of observation noise in the initial time,but with information fusion performing the noise statistical characteristics is time-varying,leading to collaborative navigation filter can not correctly using observation information,also affect collaborative localization accuracy.Therefore,this paper research the error suppression technology of multi-AUV collaborative positioning in complex underwater acoustic environment,in order to improve the positioning accuracy and stability of multi-AUV collaborative navigation.Aiming at observation outliers or its noise distribution deviates from the gaussian hypothesis while suffering from the influence of the abnormal disturb,this paper proposes a collaborative navigation algorithm based on Huber robust filtering,Huber method is used to change the update process of observation of square root Cubature Kalman Filter(CKF),and transform it into the form of nonlinear statistical regression,then structure truncated observation when suffered form abnormal noise,and correct the polluted observation,effectively inhibit collaborative positioning error under the abnormal noise,improve the positioning accuracy and stability of the collaborative navigation.Aiming at the problem of the observation noise statistical properties unknown or timevarying,this paper proposes a collaborative navigation algorithm based on Myers-Tapley robust adaptive filter,applyed Myers-Tapley to the collaborative navigation algorithm based on square root CKF,to estimate the observation noise statistical characteristics online,at the same time to improve the robustness of noise adaptive estimation,introduce a filtering divergence criterion based on covariance match technology,make use of Huber method to correct the observation while the filter state is abnormal,to realize the robustness of observation noise statistical properties adaptive estimation,improve the positioning accuracy and stability of the collaborative navigation ulteriorly.This paper starts from the practical application scenario of multi-AUV collaborative navigation system,and gives the corresponding optimization solution to the problem of degradation of collaborative navigation and positioning performance which caused by the complex underwater environment.In addition,this paper also makes a complete analysis on the performance of multi-AUV collaborative navigation in ideal circumstances,which has certain reference significance for the Post-study of practitioners in the industry.