一种面向AUV动态对接的声学补偿无迹粒子滤波算法

付少波; 关夏威; 王嘉; 张昊

doi:10.19693/j.issn.1673-3185.03366

一种面向AUV动态对接的声学补偿无迹粒子滤波算法

An acoustic compensated unscented particle filter for AUV dynamic docking

摘要

摘要:
目的针对浅水环境下自主水下航行器（AUV）动态对接过程中超短基线定位系统（USBL）声学相对导航问题，提出一种基于扰动观测器的补偿无迹粒子滤波算法（CUPF）。
方法该算法依据航位推算模型补偿USBL数据中的缺失值，利用观测器技术估计AUV动态对接过程中未知扰动，结合无迹粒子滤波过滤USBL数据中的野值，并实现AUV状态的预估。
结果湖试数据表明，所提方法能够有效地剔除USBL定位中的野值并填补缺失值，速度估计误差不超过15%，计算时间相较于传统算法减少了57%。
结论所提方法可充分利用相对量测信息，在平滑AUV运动轨迹的同时提高了USBL定位精度，准确估计了AUV运动状态，有利于AUV顺利对接。

Abstract:
Objective To address the problem of ultra-short baseline (USBL) relative navigation and positioning during autonomous underwater vehicles (AUVs) dynamic docking in shallow water, a compensated unscented particle filter (CUPF) based on disturbance observer is proposed.
Methods CUPF compensates missing values in USBL data based on dead reckoning model, estimates the unknown disturbances in dynamic docking of AUV with observer technology, filters outliers in USBL data combined with unscented particle filter, and realizes estimation of AUV state.
Results The lake trial data shows that the proposed CUPF algorithm can effectively remove outliers and fill in missing values for positioning of USBL, with the estimation error of speed less than 15% and the computation time is reduced by 57% with traditional method.
Conclusions The CUPF algorithm can improve the positioning accuracy of USBL while smoothing the motion trajectory and estimating state of AUV by fully utilize relative measurement information for AUV docking.

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