Underwater communication and distributed localization of AUV teams
Underwater communication and distributed localization of AUV teams
复制标题
AUV团队的水下通信和分布式定位
DOI：
10.1109/oceans-bergen.2013.6608166
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
A. Munafò
中科院分区：
文献类型：
--
作者：
A. Caiti;V. Calabrò;T. Fabbri;D. Fenucci;A. Munafò
本文探讨了合作定位算法的团队自主水下航行器，在项目THESAURUS开发。定位算法强烈依赖于底层声学通信网络，因为它仅使用声学数据（距离、USBL测量和导航信息的传输）来减少误差和不确定性。定位算法基于使用扩展卡尔曼滤波器来维持整个群的模型，同时根据可用的特定测量来调整测量方程。仿真结果表明了该算法的有效性。水下通信网络基于时分复用方案和使用MOOS pub/sub进行应用集成。提供了网络的实现细节，以及定位系统（例如USBL）如何被集成在网络结构的约束内的描述。初步实验结果的定位和通信提供了从最近的工程海试获得。
This paper examines a cooperative localization algorithm for teams of Autonomous Underwater Vehicles, as developed within the project THESAURUS. The localization algorithm is strongly dependent on the underlying acoustic communication network, as it only uses acoustic data (range, USBL measurements and transmission of navigation information) to reduce the error and the uncertainty. The localization algorithm is based on the use of an Extended Kalman filter to maintain a model of the entire swarm, while adapting the measurement equation on the basis of the specific measurement available. Simulative results show how the algorithm is effective in fusing the information. The underwater communication networks is based on a time-division multiplexing scheme and on the use of the MOOS pub/sub for application integration. Implementation details of the network are provided, together with a description of how the positioning systems (e.g. USBL) have been integrated within the constraints of the network structure. Preliminary experimental results on localization and communication are provided as obtained from a recent engineering sea trial.