TY - GEN
T1 - Co-location technology for weak-connected auvs based on mobile relay station
AU - Zhang, Lichuan
AU - Qu, Junqi
AU - Pan, Guang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Aiming at the problem of weak connectivity in AUVs co-location system, this paper proposes a coordinated positioning method based on mobile relay station according to beyond visual range (BVP)method, which provides a new idea for solving the problem of cooperative positioning of weak-connected AUV. Firstly, the co-location system proposed in this paper is explained in detail, and it can be divided into two sublevel systems. Secondly, two covariance matrices are visualized by the information ellipse. Then, two information ellipses are synthesized by the convolution of normal law on the plane, and the performance evaluation criteria is established by the size of the ellipse area. Finally, by analyzing the performance evaluation criteria, the error transfer of this method is emphatically studied, and the influence of the location of mobile relay station on the positioning performance of weak-connected AUV is determined. The simulation results verify the validity of the cooperative localization algorithm and the correctness of the performance evaluation criteria.
AB - Aiming at the problem of weak connectivity in AUVs co-location system, this paper proposes a coordinated positioning method based on mobile relay station according to beyond visual range (BVP)method, which provides a new idea for solving the problem of cooperative positioning of weak-connected AUV. Firstly, the co-location system proposed in this paper is explained in detail, and it can be divided into two sublevel systems. Secondly, two covariance matrices are visualized by the information ellipse. Then, two information ellipses are synthesized by the convolution of normal law on the plane, and the performance evaluation criteria is established by the size of the ellipse area. Finally, by analyzing the performance evaluation criteria, the error transfer of this method is emphatically studied, and the influence of the location of mobile relay station on the positioning performance of weak-connected AUV is determined. The simulation results verify the validity of the cooperative localization algorithm and the correctness of the performance evaluation criteria.
KW - BVP
KW - Error transfer
KW - Information ellipse
KW - Localization performance
KW - Weak-connected AUVs
UR - https://www.scopus.com/pages/publications/85087090292
U2 - 10.1109/ICISCE48695.2019.00144
DO - 10.1109/ICISCE48695.2019.00144
M3 - 会议稿件
AN - SCOPUS:85087090292
T3 - Proceedings - 2019 6th International Conference on Information Science and Control Engineering, ICISCE 2019
SP - 702
EP - 707
BT - Proceedings - 2019 6th International Conference on Information Science and Control Engineering, ICISCE 2019
A2 - Li, Shaozi
A2 - Cheng, Yun
A2 - Dai, Ying
A2 - Ma, Jianwei
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Information Science and Control Engineering, ICISCE 2019
Y2 - 20 December 2019 through 22 December 2019
ER -