【作者】 王俊；

【导师】 刘军；

【作者基本信息】 吉林大学 ， 软件工程， 2021， 硕士

【摘要】 近年来,由于集群机器人在不同应用场景中展现出的巨大潜力,其越来越受到人们的关注,特别是在大规模环境信息的感知,多任务的协作和高可靠任务的完成等场景。作为集群机器人的分支,AUV集群在水下应用场景中也表现出巨大的潜力,例如水下环境调查,自主水下洞穴探测,以及水下考古现场制图等。但在实际应用中仍存在着许多亟待解决的挑战,其中较为关键的就是AUV集群的导航与定位技术。如何实现精准的水下AUV集群导航与定位功能成为AUV集群技术发展的重要问题。在有限的传感器载荷和复杂的水下通信环境下实现可靠、精确AUV集群的导航定位是本文关注的重点问题。本文吸收AUV自身惯性导航系统与声学定位系统各自优势,采用惯性导航与声学定位协同的水下AUV集群协同导航定位算法,从而减少AUV自身惯性导航系统累计效应所产生的误差,实现水下AUV集群的精确导航定位能力。本文研究内容包括:AUV集群间基于USBL的声学定位,主要利用水声通信和USBL定位原理,在测量出AUV间相对位置的基础上,计算AUV在地理坐标系下的绝对位置;对于水下AUV惯性导航系统的误差累积问题,本文采用基于声学定位和AUV惯性导航的EKF(扩展卡尔曼滤波)的主从式协同导航定位算法,减轻仅使用AUV自身惯性导航的场景下误差累积的影响。针对主从式AUV协同导航定位方法和并行式AUV协同导航定位方法存在的问题,提出一种分布式的协同导航定位算法。本算法以考虑AUV能量为前提,选择误差最小的AUV为主AUV进行领航,用来减少AUV集群的导航定位误差;针对任务过程中领航主AUV失效问题,在主AUV选择算法基础上提出一种自适应的快恢复算法,以重新选择新的主AUV为集群提供协同导航定位服务,减少主AUV失效对AUV集群导航定位的影响。最后,通过仿真实验验证上述方案。论文的主要创新点包括:为提高AUV集群定位精度,提出一种基于USBL的定位方法。针对AUV自身惯性导航的误差累积效应,提出一种基于EKF的协同导航定位算法,融合声学定位和惯性导航的数据信息,以减轻定位误差对导航的影响。针对传统的AUV集群间协同导航方法,提出一种基于分布式的协同导航定位改进算法。针对任务过程中领航主AUV失效问题,提出一种基于自适应的恢复算法。更多还原

【Abstract】 In recent years,due to the great potential of swarm robots in different application scenarios,it has attracted more and more attention,especially in large-scale environmental information perception,multi task cooperation and high reliable task completion scenarios.As a branch of swarm robots,swarm AUV also shows great potential in underwater application scenarios,such as underwater environment investigation,autonomous underwater cave exploration,and underwater archaeological site mapping.However,there are still many challenges to be solved in practical application,among which the key is the navigation and positioning technology of swarm AUV.How to achieve accurate navigation and positioning function of swarm AUV have become an important issue in the development of swarm AUV technology.In the limited sensor load and complex underwater communication environment,to achieve reliable and accurate navigation and positioning of swarm AUV is the focus of this paper.This paper absorbs the advantages of AUV’s own inertial navigation system and acoustic positioning system,and adopts the underwater swarm AUV cooperative navigation and positioning algorithm of inertial navigation and acoustic positioning,so as to reduce the error caused by the cumulative effect of AUV’s own inertial navigation system,and realize the accurate navigation and positioning ability of underwater swarm AUV.The research contents of this paper include: USBL based acoustic positioning between swarm AUVs,mainly using underwater acoustic communication and USBL positioning principle,on the basis of measuring the relative position between AUVs,calculating the absolute position of AUV in geographical coordinate system;For the problem of error accumulation of underwater AUV inertial navigation system,this paper adopts EKF(Extended Kalman filter)master-slave cooperative navigation algorithm based on acoustic positioning and AUV inertial navigation to reduce the influence of error accumulation in the scene of using only AUV inertial navigation.Aiming at the problems of master-slave AUV cooperative navigation and positioning method and parallel AUV cooperative navigation and positioning method,a distributed cooperative navigation and positioning algorithm is proposed.This algorithm takes the energy of AUV into consideration,and selects the AUV with the smallest error as the main AUV to pilot,so as to reduce the navigation and positioning error of swarm AUV;Aiming at the problem of pilot primary AUV failure in the process of mission,an adaptive fast recovery algorithm is proposed based on the primary AUV selection algorithm to re select a new primary AUV to provide cooperative navigation and positioning service for the swarm,so as to reduce the impact of primary AUV failure on swarm AUV navigation and positioning.Finally,the above scheme is verified by simulation experiment.The main innovations of this paper include: in order to improve the positioning accuracy of swarm AUV,a positioning method based on USBL is proposed.Aiming at the error accumulation effect of AUV’s own inertial navigation,this paper proposes a cooperative navigation algorithm based on EKF,which fuses the data information of acoustic positioning and inertial navigation to reduce the influence of positioning error on navigation.Aiming at the traditional cooperative navigation method between swarm AUVs,an improved algorithm based on Distributed Cooperative navigation is proposed.Aiming at the problem of pilot AUV failure during the mission,an adaptive recovery algorithm is proposed.更多还原