[1]高伟,杨建,刘菊,等.考虑通信延迟的多水面无人艇协同定位算法[J].哈尔滨工程大学学报,2013,(12):1490-1496.[doi:10.3969/j.issn.1006-7043.201301057]
 GAO Wei,YANG Jian,LIU Ju,et al.Cooperative location of multiple unmanned surface vessels (USVs) considering communication delay[J].hebgcdxxb,2013,(12):1490-1496.[doi:10.3969/j.issn.1006-7043.201301057]
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2013年12
页码:
1490-1496
栏目:
出版日期:
2013-12-25

文章信息/Info

Title:
Cooperative location of multiple unmanned surface vessels (USVs) considering communication delay
文章编号:
1006-7043(2013)12-1490-07
作者:
高伟 杨建 刘菊 徐博 杨峻巍
哈尔滨工程大学自动化学院,黑龙江哈尔滨150001
Author(s):
GAO WeiYANG JianLIU JuXU BoYANG Junwei
College of Automation, Harbin Engineering University, Harbin 150001, China
关键词:
水面无人艇通信延迟协同定位可观测性分析延时扩展卡尔曼滤波
分类号:
U666.1
DOI:
10.3969/j.issn.1006-7043.201301057
文献标志码:
A
摘要:
针对多水面无人艇协同定位过程中由于通信延时造成的定位失效问题,结合多艇协同定位系统可观性分析,提出了一种基于状态估计误差补偿的延时扩展卡尔曼滤波(delay expanded Kalman filtering, DEKF)方法.首先,建立基于单领航艇的多艇协同定位状态、量测非线性方程;然后在非线性系统可观性判据的基础上,给出了多艇协同定位系统可观测条件;最后在系统可观的前提下,针对量测延时提出了一种先估计量测后补偿状态估计误差的滤波方法.仿真结果表明,该方法能够有效地补偿协同定位中由于通信延时造成的定位误差,在工程实践中具有重要意义.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2013-01-30. 网络出版时间:2013-11-07. 基金项目:国家自然科学基金资助项目(51379042,61203225);中国博士后科学基金资助项目(2012M510083). 作者简介:高伟(1977-), 男, 教授, 博士生导师;杨建(1987-), 男, 博士研究生. 通信作者:杨建, E-mail: heuyj2009@163.com.
更新日期/Last Update: 2014-04-09