Observability based control in range-only underwater vehicle localization
Observability based control in range-only underwater vehicle localization
复制标题
仅范围水下航行器定位中基于可观测性的控制
DOI：
10.1109/acc.2014.6859032
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
K. Morgansen
中科院分区：
文献类型：
--
作者：
J. Quenzer;K. Morgansen
海洋学研究的需求推动了自主水下航行器的发展，使其具有巨大的自主性和耐力。预计未来的自主海洋学调查将使用不同的车队进行，以降低成本和提高数据质量。在通常提出的场景中，测量由一组低成本、低复杂度的车辆收集，而更先进的车辆倾向于该组，提供通信和导航帮助。本文的目标是探索辅助飞行器的控制策略，以提高非独立测量飞行器的定位性能。提出了两种方法，利用当地的可观测性措施来决定援助车辆的即时行动。调查模拟进行测试这两种方法，以提高本地化性能的能力。结果发现，第一个开发的方法具有可比的或更好的性能比现有的最大信息增益方法在割草机式调查使命。
The needs of oceanographic research have driven the development of autonomous underwater vehicles to be capable of great feats of autonomy and endurance. It is anticipated that future autonomous oceanographic surveys will be conducted using heterogeneous teams of vehicles to reduce cost and improve data quality. In a commonly proposed scenario, measurements for a survey are collected by a group of low-cost, low-complexity vehicles while a more advanced vehicle tends to the group, providing communication and navigation assistance. The goal of this paper is to explore helming strategies for the aid vehicle to improve localization performance of dependent survey vehicles. Two methods are proposed that make use of local observability measures to decide an aid vehicle's immediate action. Survey simulations are conducted to test both methods in their ability to improve localization performance. It was found that the first developed method has comparable or better performance than an existing maximum information gain method in a lawn mower style survey mission.