Cooperative Localization of AUVs Using Moving Horizon Estimation
Cooperative Localization of AUVs Using Moving Horizon Estimation作者机构：the School of Computer Science and Electronic Engineering University of Essex
出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报(英文版))
年 卷 期：2014年第1卷第1期
页 面：68-76页
核心收录：
学科分类：08[工学] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造]
基 金：supported by British Council:Sino-UK Higher Education Research Partnership for Ph.D. Studies
主 题：Cooperative localization autonomous underwa-ter vehicles(AUVs) moving horizon estimation extended Kalman filter (EKF)
摘 要：This paper studies the localization problem of autonomous underwater vehicles(AUVs) constrained by limited size, power and payload. Such AUVs cannot be equipped with heavy sensors which makes their underwater localization problem difficult. The proposed cooperative localization algorithm is performed by using a single surface mobile beacon which provides range measurement to bound the localization error. The main contribution of this paper is twofold: 1) The observability of single beacon based localization is first analyzed in the context of nonlinear discrete time system, deriving a sufficient condition on observability. It is further compared with observability of linearized system to verify that a nonlinear state estimation is necessary. 2) Moving horizon estimation is integrated with extended Kalman filter(EKF) for three dimensional localization using single beacon, which can alleviate the computational complexity,impose various constraints and make use of several previous range measurements for each estimation. The observability and improved localization accuracy of the localization algorithm are verified by extensive numerical simulation compared with EKF.
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