CAJ | 학술논문

针对多水面无人艇协同定位过程中由于通信延时造成的定位失效问题，结合多艇协同定位系统可观性分析，提出了一种基于状态估计误差补偿的延时扩展卡尔曼滤波（ delay expanded Kalman filtering ， DEKF）方法。首先，建立基于单领航艇的多艇协同定位状态、量测非线性方程；然后在非线性系统可观性判据的基础上，给出了多艇协同定位系统可观测条件；最后在系统可观的前提下，针对量测延时提出了一种先估计量测后补偿状态估计误差的滤波方法。仿真结果表明，该方法能够有效地补偿协同定位中由于通信延时造成的定位误差，在工程实践中具有重要意义。
침대다수면무인정협동정위과정중유우통신연시조성적정위실효문제，결합다정협동정위계통가관성분석，제출료일충기우상태고계오차보상적연시확전잡이만려파（ delay expanded Kalman filtering ， DEKF）방법。수선，건립기우단령항정적다정협동정위상태、량측비선성방정；연후재비선성계통가관성판거적기출상，급출료다정협동정위계통가관측조건；최후재계통가관적전제하，침대량측연시제출료일충선고계량측후보상상태고계오차적려파방법。방진결과표명，해방법능구유효지보상협동정위중유우통신연시조성적정위오차，재공정실천중구유중요의의。
Considering the positioning failure caused by the communication delay in cooperative location process of multiple unmanned surface vessels (USVs), this paper proposes a delay expanded Kalman filtering (DEKF) with state estimation error compensation , based on the observability analysis of the multi-vessel cooperative location sys-tem.First, the nonlinear equations of states and measurements of multi-vessel cooperative location based on one leader USV are established .Then, the observability conditions of the multi-vessel cooperative location system are given based on the nonlinear system observability criterion .Finally, a new filtering method is proposed in the pres-ence of measurement delay , in which the measurements are predicted in advance to compensate the state estimation error .The simulation results show that this method can effectively compensate for positioning errors caused by com -munication delay in the cooperative location process , which is of great significance to the engineering practice .