Research On Multi-AUV Cooperative Positioning And Trajectory Tracking Control Based On Single Pilot

With the development of science and technology and the deepening of ocean exploration,autonomous underwater vehicle(AUV)has been widely used in ocean observation,sea rescue,minefield search,enemy reconnaissance and other fields.However,when faced with the requirements of high-time-efficiency and large-scale tasks,a single AUV can no longer meet the requirements.Multi-auv systems provide a new solution for complex ocean tasks by relying on the high efficiency brought by their space-time distribution and the reliability brought by redundant configuration.When multi-AUV systems perform tasks,multi-AUV cooperation is a typical scenario.In this paper,the whole process of single-piloted multi-AUV cooperative marching is studied,which mainly includes the key points of co-positioning of master and slave AUVS,tracking trajectory planning from AUV,tracking control from AUV and so on.In view of these key points,the specific research work of this paper is as follows:1.According to the underwater scene of cooperative operation of autonomous underwater vehicles,the basic principle of cooperative positioning of multiple AUVs is studied,and the characteristics of different formation structures are analyzed;The kinematic models of AUV in 3D and 2D scenes were established,and the measurement model was established according to the working principle of multi-AUV cooperative positioning based on distance measurement information.2,studied the collaborative localization algorithm based on nonlinear kalman filter,under the condition of ideal communication,in view of the nonlinear multiple cooperating AUV positioning system,is put forward in this paper based on extended kalman filter was deduced in detail,no trace co-location of kalman filtering method,gives the main steps of two methods of co-location,and carry on the simulation analysis.It provides the theoretical basis for the cooperative positioning part of the whole cooperative moving process.3.In view of the cooperative marching process of single pilot and single tracker,the tracker,pilot and their distance measurement models are firstly proposed.In the part of cooperative location,a cooperative location method based on extended Kalman filter is designed.In the tracking planning,the tracking curve of the tracking device around the pilot is designed.In terms of trajectory tracking control,an effective robust tracking controller is designed by considering the error between the tracker state and the ideal trajectory.The simulation results show that the proposed method is effective.The simulation results show that the pilot moves along a straight line and a curve in two dimensions and the pilot moves along a straight line and a curve in three dimensions.4.On the basis of the above,the case of single pilot and multiple trackers moving together is considered.In order to improve the positioning accuracy,a distributed cooperative extended Kalman filter is designed.In the tracking planning,in order to enhance the observability of measurement,the tracking curves of multiple trackers at the same Angle around the pilot were designed.In the aspect of trajectory tracking control,considering that the last tracker tracks the pilot at the same angular velocity,a corresponding collaborative robust tracking controller is designed.The simulation experiments of linear and curvilinear navigation in two dimensional plane and linear and curvilinear navigation in three dimensional space are completed respectively to verify the effectiveness of the proposed method.