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《Acta Armamentarii》 2011-08
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Cooperative Navigation for Multiple Autonamous Underwater Vehicles Based on Relative Displacement Measurement with a Single Leader

LI Wen-bai,LIU Ming-yong,ZHANG Li-chuan,LIU Fu-qiang (School of Marine Engineering,Northwestern Polytechnical University,Xi'an 710072,Shaanxi,China)  
To meet the precision and real time performance of single leader cooperative navigation system for autonomous underwater vehicles(AUV),a novel navigation method based on relative displacement measurements is presented.By analyzing localization principle and kinematic model of the navigation system,the location estimation of the follower vehicle can be calculated by means of an extended Kalman filter(EKF) via combining dead-reckoning information and the geometric relation of relative position between the leader and follower vehicles.Compared with the existing research,simulation results show that this algorithm has a high positioning accuracy and improves the real time of the positioning calculation.
【Fund】: 国家自然基金(50979093);; 新世纪优秀人才计划资助(NCET-06-0877)
【CateGory Index】: U666.1
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