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仅方位角系统UUV轨迹优化方法研究
Alternative TitleOptimal UUV Trajectories for Bearings-only Tracking System
王艳艳; 刘开周; 陈华雷
Department水下机器人研究室
Source Publication控制工程
ISSN1671-7848
2014
Volume21Issue:S1Pages:54-57
Contribution Rank1
Funding Organization国家自然科学基金(61273334); 辽宁省自然科学基金(2011010025-401); 中国科学院知识创新工程重大项目(YYYJ-0917)
Keyword主从式uuvs Tma 轨迹优化 距离最短
Abstract在主从式UUVs(Unmanned Underwater Vehicles)系统中,从UUV仅携带被动传感器测得杂波环境下的主UUV方位角信息,通过自主优化其运动轨迹以达到尽快实现与主UUV汇合的目的。分析对比不同的观测载体机动轨迹对仅方位角系统TMA(Target Motion Analysis)精度的影响后,充分考虑到本课题从UUV速度小于主UUV速度这一特殊情况,提出了一种适用于工程应用的基于动态距离最短的轨迹优化方法并且借鉴其它载体航路跟踪模式设计从UUV跟踪轨迹的整体过程,使用扩展卡尔曼滤波算法进行主UUV运动要素估计,采取边估计边优化的方法实时更新从UUV运动状态。仿真实验中与基于...
Other AbstractIn the main-slave UUVs system,the slave-UUV carries only bearings passive sensors,the sensors can measure azimuth information in sea clutter environment,the slave-UUV optimizing its trajectory to follow the main-UUV as soon as possible. Giving full consideration to the relationship between the target motion elements estimation and the slave-UUV’s trajectory,and combining with the actual situation that the speed of the slave-UUV is less than the main-UUV’s,the paper proposed a new method which is suitable for engineering application based on shortest dynamic range and referencing for other carrier tracking the target process designed the whole process of slave-UUV tracking trajectory,used the extended Kalman filter to estimate the main UUV’s motion elements,according to EKF estimation result which estimated in last moment,the slave UUV updates its state. In the simulation experiment,compared the trajectory optimization method proposed in this paper respectively with the trajectory optimization method based on maximum the azimuth rate and based on minimize the mean square error matrix trace,simulation shows that along the planned trajectory,the slave-UUV can meet with the main-UUV at the same position,verifies the rationality of the proposed method.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15224
Collection水下机器人研究室
Corresponding Author王艳艳
Affiliation1.机器人学国家重点实验室中国科学院沈阳自动化研究所
2.中国科学院大学
Recommended Citation
GB/T 7714
王艳艳,刘开周,陈华雷. 仅方位角系统UUV轨迹优化方法研究[J]. 控制工程,2014,21(S1):54-57.
APA 王艳艳,刘开周,&陈华雷.(2014).仅方位角系统UUV轨迹优化方法研究.控制工程,21(S1),54-57.
MLA 王艳艳,et al."仅方位角系统UUV轨迹优化方法研究".控制工程 21.S1(2014):54-57.
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