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

Acoustic compensated unscented particle filter algorithm 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动态对接过程中的未知扰动，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 the dynamic docking of an autonomous underwater vehicle (AUV) in shallow water, a compensated unscented particle filter (CUPF) algorithm based on a disturbance observer is proposed.
Methods The CUPF algorithm compensates for missing values in the USBL data based on the dead reckoning model, estimates the unknown disturbances in the dynamic docking of the AUV using observer technology and filters outliers in the USBL data combined with the unscented particle filter to realize the estimation of the AUV’s state.
Results The lake trial data shows that the proposed CUPF algorithm can effectively remove outliers and fill in missing values for USBL positioning with a speed estimation error of less than 15% and computation time reduced by 57% compared with traditional methods.
Conclusions The CUPF algorithm can improve the positioning accuracy of USBL while smoothing the AUV motion trajectory and state estimation by fully utilizing relative measurement information for AUV docking.

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