Observability Analysis of Cooperative Localization System for MAUV Based on Condition Number

MA Peng;ZHANG Fu-bin;XU De-min;LIU Shu-qiang

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2015, Vol. 36 ›› Issue (1) : 138-143. DOI: 10.3969/j.issn.1000-1093.2015.01.020
Paper

Observability Analysis of Cooperative Localization System for MAUV Based on Condition Number

  • MA Peng， ZHANG Fu-bin， XU De-min， LIU Shu-qiang
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Abstract

For the multiple autonomous underwater vehicle (MAUV) cooperative localization system based on the moving long baseline, the 2D kinematic models and range measurement equations of MAUV are established.The observability theory of nonlinear system based on Lie derivatives is used to derive the observability matrix of the cooperative localization system and describe the unobservable trajectories of MAUV system. The evaluation function for the observability metric of the localization system is given using the condition number of observability matrix obtained from singular value decomposition(SVD) theory. Finally, a series of simulation experiments are designed to analyze the system observability under the different MAUV formations. The results show that the system observability change with the MAUV formation, which provides an effective reference to improve the performance of cooperative localization system by transforming the MAUV formation.

Key words

information processing technology / multiple autonomous underwater vehicle / cooperative localization / condition number / observability

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MA Peng， ZHANG Fu-bin， XU De-min， LIU Shu-qiang. Observability Analysis of Cooperative Localization System for MAUV Based on Condition Number. Acta Armamentarii. 2015, 36(1): 138-143 https://doi.org/10.3969/j.issn.1000-1093.2015.01.020

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