基于几何解释的集群AUV协同定位误差及编队构型分析

Because the evaluation of the location performance of AUVs with the lower bound of the Cramer-Rao inequality is not intuitive, the geometric interpretation method is proposed based on geometric ellipse. The Fisher information matrix is used to replace the Cramer-Rao inequality. The priori information matrix and the measurement information matrix are synthesized into the posterior information matrix through singular value decomposition. The geometric ellipse is used to geometrically represent the posterior information matrix. The posterior information ellipse area is used to establish the location performance evaluation function. By analyzing the performance evaluation function, the optimal formation configurations of single-master, dual-master and three-master AUVs are designed. The implementation of the special formation configuration for the three-master AUV formation proposed in the paper is easier, while the location performance of the optimal formation configuration is not much inferior. The simulation results verify that the optimal formation configuration has a higher location accuracy and that the special formation configuration is effective.