Multi-UUV (Unmanned Underwater Vehicle) collaborative navigation method and system based on USBL (Universal Serial Bus Language) distance measurement information

• Main Authors: HAN XUAN, WANG HENG, ZHANG LICHUAN, SUN SHOUANG, LIU LU, PAN GUANG, HAN GUANGYAO, ZHANG XIAOMENG, ZHANG SHUO, CHOI JI WOOK
• Format: Patent
• Language: Chinese; English
• Published: 05.07.2024
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to the technical field of underwater vehicle navigation, in particular to a multi-UUV collaborative navigation method and system based on USBL distance measurement information, and the method comprises the following steps: presetting a navigation track for each slave vehicle, and setting a master vehicle to be in an initial state; establishing kinematic models of each slave aircraft and the master aircraft; acquiring a navigation track of the main vehicle; each slave aircraft sails along a preset sailing trajectory, meanwhile, the master aircraft moves according to a planned sailing trajectory, and each slave aircraft corrects a navigation error by utilizing an iterative extended Kalman filtering algorithm according to interactive information; and each slave aircraft continues to sail according to the corrected navigation. According to the invention, based on the preset slave UUV trajectory, the time difference method and the hierarchical reinforcement learning algorithm are integrated,