A cooperative navigation approach and its verification of USVs with leader-fellower structure

Bo Xu; Yong Ping Xiao; Wei Gao; Ya Long Liu; Jian Yang

doi:10.3969/j.issn.1000-1093.2014.11.015

A cooperative navigation approach and its verification of USVs with leader-fellower structure

Bo Xu^*
, Yong Ping Xiao
, Wei Gao
, Ya Long Liu
, Jian Yang

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

The cooperative navigation and localization technology of multi-USVs is an important way to solve the navigation problem in complex environment. For the cooperative navigation and localization of multi-USVs with leader-follower structure, a state space model of cooperative localization is built, and then a linear model is obtained by expanding the nonlinear model around filter value. An extended Kalman filter is designed to fuse the sensor information to locate the slave USV in real time. At last, the relationship among USV distances, angle and accuracy is researched, and the observability analysis of cooperative navigation filter algorithm is done with Lie algebra. The results show that the navigation accuracy is improved effectively by controlling the variations of distances and angles of leader and slave USVs between two adjacent moments, which is verified by simulation and experiment.

Original language	English
Pages (from-to)	1836-1845
Number of pages	10
Journal	Binggong Xuebao/Acta Armamentarii
Volume	35
Issue number	11
DOIs	https://doi.org/10.3969/j.issn.1000-1093.2014.11.015
State	Published - 1 Nov 2014
Externally published	Yes

Keywords

Control science and technology
Cooperative localization
Extended Kalman filter
Ranging
Unmanned surface vessel

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10.3969/j.issn.1000-1093.2014.11.015

Cite this

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title = "A cooperative navigation approach and its verification of USVs with leader-fellower structure",

abstract = "The cooperative navigation and localization technology of multi-USVs is an important way to solve the navigation problem in complex environment. For the cooperative navigation and localization of multi-USVs with leader-follower structure, a state space model of cooperative localization is built, and then a linear model is obtained by expanding the nonlinear model around filter value. An extended Kalman filter is designed to fuse the sensor information to locate the slave USV in real time. At last, the relationship among USV distances, angle and accuracy is researched, and the observability analysis of cooperative navigation filter algorithm is done with Lie algebra. The results show that the navigation accuracy is improved effectively by controlling the variations of distances and angles of leader and slave USVs between two adjacent moments, which is verified by simulation and experiment.",

keywords = "Control science and technology, Cooperative localization, Extended Kalman filter, Ranging, Unmanned surface vessel",

author = "Bo Xu and Xiao, \{Yong Ping\} and Wei Gao and Liu, \{Ya Long\} and Jian Yang",

year = "2014",

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doi = "10.3969/j.issn.1000-1093.2014.11.015",

language = "英语",

volume = "35",

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AU - Xu, Bo

AU - Xiao, Yong Ping

AU - Gao, Wei

AU - Liu, Ya Long

AU - Yang, Jian

PY - 2014/11/1

Y1 - 2014/11/1

N2 - The cooperative navigation and localization technology of multi-USVs is an important way to solve the navigation problem in complex environment. For the cooperative navigation and localization of multi-USVs with leader-follower structure, a state space model of cooperative localization is built, and then a linear model is obtained by expanding the nonlinear model around filter value. An extended Kalman filter is designed to fuse the sensor information to locate the slave USV in real time. At last, the relationship among USV distances, angle and accuracy is researched, and the observability analysis of cooperative navigation filter algorithm is done with Lie algebra. The results show that the navigation accuracy is improved effectively by controlling the variations of distances and angles of leader and slave USVs between two adjacent moments, which is verified by simulation and experiment.

AB - The cooperative navigation and localization technology of multi-USVs is an important way to solve the navigation problem in complex environment. For the cooperative navigation and localization of multi-USVs with leader-follower structure, a state space model of cooperative localization is built, and then a linear model is obtained by expanding the nonlinear model around filter value. An extended Kalman filter is designed to fuse the sensor information to locate the slave USV in real time. At last, the relationship among USV distances, angle and accuracy is researched, and the observability analysis of cooperative navigation filter algorithm is done with Lie algebra. The results show that the navigation accuracy is improved effectively by controlling the variations of distances and angles of leader and slave USVs between two adjacent moments, which is verified by simulation and experiment.

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KW - Extended Kalman filter

KW - Ranging

KW - Unmanned surface vessel

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A cooperative navigation approach and its verification of USVs with leader-fellower structure

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Keywords

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