TY - GEN
T1 - Levenberg-Marquardt Optimization Based Iterative Divided Difference Filtering for Multi-AUV Cooperative Localization
AU - Chengjiao, Sun
AU - Yonggang, Zhang
AU - Wei, Gao
AU - Li, Luo
AU - Guangle, Jia
N1 - Publisher Copyright:
© 2018 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - Due to the low communication frequency and slow transmission speed of underwater acoustic communication, the frequency of cooperative update is significantly reduced, which results in poor filtering convergence and positioning accuracy. To solve this problem, in this paper, a new iterative divided difference filter (IDDF) is proposed for multi-AUV cooperative localization system based on a Levenberg-Marquardt optimization. As compared with conventional filtering algorithm, the proposed IDDF algorithm can improve the convergence and estimation accuracy when the state estimation has large initialization error. Simulation results show that the proposed cooperative localization algorithm has better filtering convergence and positioning accuracy then existing methods.
AB - Due to the low communication frequency and slow transmission speed of underwater acoustic communication, the frequency of cooperative update is significantly reduced, which results in poor filtering convergence and positioning accuracy. To solve this problem, in this paper, a new iterative divided difference filter (IDDF) is proposed for multi-AUV cooperative localization system based on a Levenberg-Marquardt optimization. As compared with conventional filtering algorithm, the proposed IDDF algorithm can improve the convergence and estimation accuracy when the state estimation has large initialization error. Simulation results show that the proposed cooperative localization algorithm has better filtering convergence and positioning accuracy then existing methods.
KW - Autonomous underwater vehicles
KW - Cooperative localization
KW - Divided difference filter
KW - Nonlinear filtering
UR - https://www.scopus.com/pages/publications/85056140191
U2 - 10.23919/ChiCC.2018.8483913
DO - 10.23919/ChiCC.2018.8483913
M3 - 会议稿件
AN - SCOPUS:85056140191
T3 - Chinese Control Conference, CCC
SP - 4164
EP - 4168
BT - Proceedings of the 37th Chinese Control Conference, CCC 2018
A2 - Chen, Xin
A2 - Zhao, Qianchuan
PB - IEEE Computer Society
T2 - 37th Chinese Control Conference, CCC 2018
Y2 - 25 July 2018 through 27 July 2018
ER -