Performance analysis of leader-follower USVs' cooperative localization system

被引：0
|
作者：
Yu F. [1 ]
Fan S. [1 ]
Li Q. [1 ]
Hao Q. [1 ]
Jiang P. [1 ]
机构：
[1] School of Electrical Engineeringand Automation, Harbin Institute of Technology, Harbin
来源：
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | 2017年 / 49卷 / 09期
关键词：
Control input; Cooperative localization; Observability; Performance analysis; USV;
D O I：
10.11918/j.issn.0367-6234.201607062
中图分类号：
学科分类号：
摘要：
This paper studies the performance analysis of the multiple USVs' cooperative localization system based on the relative distance measurements with a single leader under different maneuver conditions. In order to analyze the performance of the cooperative localization system quantitatively, a new cooperative coordinate is established and motion models of the leader and follower USVs are derived. Furthermore, the USV cooperative localization system's observability and the degree of observability is analyzed. In addition, aiming at unobservable paths, a method about changing control input is proposed to improve the degree of observability. Through MATLAB simulation experiment and water experiment results show that under different conditions, by adjusting the control input method to change the system observability is effective. And the results show that the analysis method proposed in this paper can reflect the positioning performance of cooperative positioning system, verify the effectiveness of this method. © 2017, Editorial Board of Journal of Harbin Institute of Technology. All right reserved.
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页码：129 / 135
页数：6
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