单信标测距AUV水下定位系统观测性分析

针对基于单信标测距的自主水下航行器(AUV)定位系统观测性问题,建立AUV三维空间运动学模型,选取实物平台常用的深度、偏航角和俯仰角作为基本观测量辅助距离信息进行水下定位,利用基于Lie导数的非线性系统观测性秩判据分析不同辅助测量值下系统的可观性以及控制输入和运动路径对可观性的影响。研究结果表明:满足定位系统可观测的最简量测组合为距离值和偏航角,含有偏航角的辅助量测组合均使得定位系统可观测,系统控制输入和运动路径的变化会导致可观性发生变化。

Observability analysis of single-beacon underwater localization of autonomous underwater vehicle

Aiming at the observability analysis of autonomous underwater vehicle(AUV) underwater localization system based on the range measurements from a single beacon,an AUV three-dimensional kinematics model was developed.Three common measurements used on real platform,such as depth,heading and pitch,were considered as basic observation values,assisting range measurements for underwater localization.An observability analysis was performed on the system defined with different assist measurements,and then the influence of control inputs and trajectories on the observability property was also performed by nonlinear observability rank condition,which is based on the Lie derivatives.The results indicate that the most simplified measurements combination meeting the system observable is heading and range,and the systems,whose assist measurements containing the heading,are all observable,the change in control inputs and trajectories may make the change in observability property.