Research On Master-slave Cooperative Position Technology Of USVs Formation

With the development of science and technology, and the augmentation of the military power and international environment changes, the marine environment is more and more brought to the attention of the countries. Then people pay more and more attention to USV.USV can be used in many aspects. And its using is very promising. Nowadays many important tasks need to be complete by the USV cooperation. The most important is to guarantee that USV has a high precision navigation capability.In the research of USV, synergy formation positioning technology is significant. This topic is an advanced research in the twelfth Five-Year Plan. Its purpose is to improve the navigation precision of USV whose navigation equipment precision is low, by the Follower-USV's own and the Leader-USV's information fusion. The main contents of this paper as follows:Firstly, this paper has analyzed the theoretical basis of USV for the model of USV. The sensors used by the USVs have been analyzed and the models of their error have also been deduced. According to the state of motion of USV,the motion equation and observation equation have been established. In this paper the Micro Inertial Navigation System, the important part of the Follower-USVs, has been introduced. MEMS inertial device and Doppler velocimeter and electronic compass are included in the system. Their working principles have been introduced. Their basic equations and error calculation formula have been deduced. The basis of their composite filter is settled.Secondly, the Collaborative Location Algorithm based on Micro Inertial Navigation System has been put forward for the model of USV. And the state equation and observation equation has been established. The error of location and velocity and attitude information output by the Micro Inertial System has been effectively suppressed through the simulation experiment. Meanwhile, the Double-Leader-USV collaborative positioning algorithm has been proposed. This algorithm is based on dead reckoning. Then its working principle has been introduced. And the mathematic model of cooperation positioning of Double-Leader-USV has been deduced.After that, the problem of communication time delayed between Leader-USV and Follower-USV will impact the accuracy of Follower-USV. So this paper proposes a collaborative localization algorithm based on measurement update. This algorithm can reduce the effect for Follower-USV's positioning caused by communication time delayed. In this algorithm, two states of the Leader-USV and Follower-USV in different time are combined.The state of combined is used as the state of the whole system. When the delayed time is coming, the new system equation is reconstructed. Then the equivalence of measurement information will be substituted into the state equation restructured. Based on the minimum variance estimate, optimum value of measurement will be estimated. This method can complete the reconstruction of state equation measurement equation.Finally, the simulation experiment has been done by matlab for collaborative positioning algorithm. Firstly, collaborative positioning algorithm based on Micro Inertial System are analyzed in the simulation. It is proved that this algorithm has a good effect in the Double-Leader-USV synergy formation and Single-Leader-USV synergy formation. At the same time, It is proved that the algorithm is better applied in the condition of Double-Leader-USV than Single-Leader-USV synergy formation. Then the collaborative algorithm is simulated based on measurement update. It is proved that this algorithm has a good effect in the synergy formation of USV. Compared with the Collaborative Location Algorithm based on Micro Inertial Navigation System, this algorithm has higher positioning accuracy in the synergy formation of USV. Lastly, the real experiment on the water has been made. The data collected by the experiment has been analyzed through matlab. It's proved that the algorithm is feasible.