弱通信复杂海洋环境下基于不完全测距序列的AUV协同导航研究

This project focuses on the cooperative navigation of leader-follower AUVs formation under weak communication in complex marine environment. Due to the underwater communication constraints, time delay and data loss will occur when the information exchange between the AUVs.This leads to the range measurements which are used for localization have strong uncertainties,therefore the incomplete ranging sequences between the leader and the follower vehicles have a key role to the cooperative navigation approach. However, it is difficult to study the incomplete ranging sequences, since they are subjected to the influence of different channel characteristics. This project studies the cooperative navigation of multiple AUVs based on the incomplete ranging measurements. It uses optimal estimation theory of nonlinear uncertain systems as the main technical means, and combined with the recent achievements of the time delay, packet loss, and other fields in the networked control systems. The research content includes: (1) The basic model and methods of the cooperative navigation related to the incomplete ranging sequences; (2) Cooperative navigation algorithms of the AUVs formation based on the incomplete ranging sequences; (3) Cooperative navigation approaches of the AUVs formation when the incomplete ranging sequences are subjected to the different communication constraints. This study will establish the cooperative navigation scheme under the weak communication conditions in marine environment, master the incomplete ranging sequences based cooperative navigation algorithms, and clarify the rules that the influence of underwater communication time delay and packet loss on the cooperative navigation by means of theoretical analysis, numerical simulation and experimental validation. Through the work, to achieve the cooperative navigation of the AUVs formation, and provide a theoretical basis for the engineering practice.

本项目着重开展弱通信复杂海洋环境下的主从式AUV协同导航研究。受水下弱通信的局限，AUV之间的信息交互存在通信时延、数据丢包等约束，导致用于定位的测距信息带有很强的不确定性，因此主、从AUV间的不完全测距序列对协同导航具有关键作用，但因其受到不同信道特征的影响，具有较大的研究难度。本项目主要采用非线性不确定性系统的最优估计理论，并结合网络控制系统在时滞、丢包等领域的新近成果，研究基于不完全测距序列的AUV协同导航，包括：(1)基于不完全测距序列的AUV协同导航基本模型与方法；(2) 基于不完全测距序列的AUV协同导航算法；(3)不完全测距序列受不同通信约束下，AUV集群的协同导航方法等。通过理论分析、数值仿真及实验验证，建立弱通信海洋环境下的协同导航方案；掌握基于不完全测距序列的协同导航算法；明确通信时延、数据丢包对协同导航的影响规律；实现AUV集群的导航与定位，为工程实践提供理依据。

本项目着重开展了弱通信复杂海洋环境下的主从式AUV协同导航研究。受水下弱通信的局限，AUV之间的信息交互存在通信时延、数据丢包等约束，导致用于定位的测距信息带有很强的不确定性，因此主、从AUV间的不完全测距序列对协同导航具有关键作用，但因其受到不同信道特征的影响，具有较大的研究难度。为此，课题组主要采用了非线性不确定性系统的最优估计理论，并结合网络控制系统在时滞、丢包等领域的新近成果，系统、深入地研究了基于不完全测距序列的AUV协同导航，主要包括以下三个方面：(1)建立了基于不完全测距序列的AUV协同导航基本模型与方法；(2) 提出了基于不完全测距序列的AUV协同导航算法；(3)研究了不完全测距序列受不同通信约束下，AUV集群的协同导航方法等。项目组通过理论分析、数值仿真及实验验证，给出了水声通信受限下的AUV协同导航方案；提出了基于不完全测距序列的协同导航算法；进一步明确了水下通信时延、数据丢包等通信约束对协同导航的影响规律；在弱通信复杂海洋环境下，有效实现了AUV集群的导航与定位。