Performance Analysis of Cooperative Positioning System

被引：0

作者：

Yu, Fei ^{[1
]}

Fan, Shiwei ^{[1
]}

Li, Qian ^{[1
]}

Pan, Jiang ^{[1
]}

Wang, Zicheng ^{[1
]}

机构：

[1] Harbin Inst Technol, Dept Automat Measurement & Control, Harbin, Heilongjiang, Peoples R China

来源：

2018 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM (PLANS) | 2018年

关键词：

performance; observability; USV; cooperative; positioning; NAVIGATION;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In order to study the positioning performance of the Unmanned Surface Vehicle (USV) coordinated positioning system with distance as the observation quantity, this paper analyzes the degree of observability of the system. Because the relative motion relation between the leader USV and the follower USV is closely related to the observability of the follower USV's estimated states, it directly affects the positioning performance of the cooperative positioning system. This paper established a new cooperative coordinate system, and in the coordinate system of leader-follower USV movement model is derived, based on leader-follower USV relative distance observed quantity analysis of master-slave USV co-location system observability. Both the simulation test and the USV water test verify the conclusion analyzed in this paper.

引用

页码：510 / 515

页数：6

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