Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles (MAUVs). In this work, in order to solve the invalidation of location due to the time delayed measurements, an algorithm which based on the augmented extended Kalman filter (AEKF) is proposed. The algorithm expands the variable dimension of slave AUV according to the time delayed measurements, and infers the fundamental equations of AEKF. Compared to the traditional EKF method, simulation results prove that AEKF has higher positioning accuracy.


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    Title :

    Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements


    Contributors:
    Yuantao Qi (author) / Bo Wang (author) / Shunting Wang (author) / Mengyin Fu (author)


    Publication date :

    2016-08-01


    Size :

    117557 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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