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多无人水下航行器协同导航与定位研究(英文).docx

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多无人水下航行器协同导航与定位研究(英文) Title:CollaborativeNavigationandLocalizationofAutonomousUnderwaterVehicles Abstract: Autonomousunderwatervehicles(AUVs)arewidelyusedforvariousapplications,includingoceanographicresearch,environmentalmonitoring,andresourceexploration.TheoperationofmultipleAUVsrequiresefficientcoordinationandcommunicationtoachieveacommonobjective.CollaborativenavigationandlocalizationisacriticalaspectofAUVoperations,whichenablesmultiplevehiclestoworktogethertonavigateandexplorenewenvironments.Thispaperpresentsareviewofthestate-of-the-artresearchoncollaborativenavigationandlocalizationofAUVs,withafocusonthetechniquesandalgorithmsusedforcoordinatingunderwatervehicles. Introduction: CollaborativenavigationandlocalizationisessentialforthesuccessofunderwaterexplorationmissionsthatrequiremultipleAUVstoworktogether.Tooperateefficiently,thesevehiclesmustbeabletocommunicatewitheachotherandexchangenavigationandlocalizationinformation.ThiscommunicationallowstheAUVstoupdatetheirownpositionsandorientationsbasedontheobservationsoftheirneighboringvehiclesandtomaintainacommonframeofreference.Inthispaper,wereviewtherecentadvancesinthefieldofcollaborativenavigationandlocalizationforAUVs,focusingonthetechniquesandalgorithmsusedtoachievecoordinationamongthesevehicles. CollaborativeNavigationTechniques: Collaborativenavigationmethodscanbebroadlyclassifiedintotwocategories:centralizedanddistributed.Centralizedapproachesrelyonacentralizedentitythatreceivesdatafromalltheparticipatingvehiclesandcomputesthebestestimateoftheoverallstateofthesystem.Distributedmethods,ontheotherhand,distributecomputationandcommunicationamongtheparticipatingvehicles,allowingthemtoworkcollaborativelytoestimatethepositionsandorientationsofallthevehicles. Onecommonapproachtocollaborativenavigationistheuseofrange-basedtechniques.Thesetechniquesrelyonthemeasurementofdistancesbetweenthevehiclestoestimatetheirpositions.Examplesofrange-basedapproachesincludetimeofarrival(TOA),timedifferenceofarrival(TDOA),andangleofa