通讯和测量受限下多AUV分布式协同目标估计与跟踪控制研究

项目名称： 通讯和测量受限下多AUV分布式协同目标估计与跟踪控制研究

项目编号： No.51209175

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 水利科学与海洋工程学科

项目作者： 王银涛

作者单位： 西北工业大学

项目金额： 25万元

中文摘要： 水下目标跟踪是海洋国土监视、反潜作战环境下的关键技术。为提高跟踪精度，本研究考虑AUV自身运行状态对目标状态估计的影响，提出一种基于相邻局部通讯和有限测量距离的多AUV协同目标估计与跟踪控制算法。主要研究内容包括：（1）研究设计一种分布式协同滤波算法，实现对水下移动目标运动状态的融合估计与预测；（2）基于预测目标状态，建立合理的、适用于AUV复杂动力学特性的目标跟踪误差数学模型,研究存在模型参数不确定性，以及海流干扰情况下的自适应鲁棒跟踪控制方法；（3）深入分析协同滤波算法的收敛性和AUV网络拓扑之间的关系，在此基础上，研究设计多AUV协同控制算法，导引各AUV以最优轨迹航行，获取最好的跟踪效果。通过本项目的研究，揭示满足算法性能和收敛性要求的最小或鲁棒性动态通讯拓扑结构规律，为多AUV群系进行水下目标跟踪作业提供必要的理论指导。

中文关键词： 自主水下航行器；旋转一致性；通信和量测受限；分布式估计；协同目标跟踪

英文摘要： Underwater target tracking is the key technology of territorial ocean surveillance and anti-submarine warfare. In order to improve the tracking accuracy, the impacts on target states estimation bringed by AUVs own running states will be considered, and the according Coordinated Target Estimation and Tracking Control algorithm for Multiple AUVs will be proposed, which only uses the local communication and partial measurements. The main works of this research can be summarized as follows: firstly, a distributed cooperative filter will be built for the estimation and the prediction of the states of a moving target underwater; secondly, a target tracking control algorithm based on the estimated target states will be designed, the algorithm can be adapted to AUV's sophisticated dynamics and can also be robust to the AUV model uncertainties and ocean currents disturbance. Finally, the relationships between cooperative filter's convergence and connectivity of the topology graph are analyzed and introduced to the design of the coordinated control laws, all the AUVs will move on the optimal paths under these coordinated control laws to acquire the best tracking performance. The disciplines of minor or robust dynamic communication topology satisfied with the algorithm's performance and convergence demands will be reveale

英文关键词： Autonomous Underwater Vehicle；Rotate Consensus；Communications and Measurements Constraint；Distributed Estimation；Coordinated Target Tracking