Treatment Method for Multi-AUV Cooperative Positioning Underwater Acoustic Propagation Delay Based on IMM Algorithm

Abstract

To address the delay problem of underwater acoustic detection and communication in a master-slave autonomous undersea vehicle(AUV) cooperative positioning system, a time-delay processing method based on an interacting multiple model(IMM) algorithm is proposed. First, a cooperative positioning calculation model for a multi-AUV system is established. Aiming at the nonlinear motion equation and nonlinear measurement of the system, the positioning error caused by the propagation delay of underwater acoustic signal in the cooperative positioning result of extended Kalman filter(EKF) is analyzed. Second, the problem that delay EKF(DEKF) cannot accurately track the motion state of the maneuverable target AUV in handling time delay is described. Finally, the IMM-DEKF algorithm is designed, the appropriate motion models are selected as the sub filters, the model probability is updated via innovation, the motion states of the main AUVs are accurately tracked, the estimation errors of the state value of the main AUVs from the slaver AUV’s filter are reduced, and the positioning accuracy of the overall cooperative system is improved. The simulation results verify that the proposed algorithm effectively improves the prediction accuracy of the main track of the AUVs from the slave AUV filter based on the conventional EKF and improves the overall positioning accuracy of the cooperative positioning system.

Keywords

• autonomous undersea vehicle
• propagation delay
• cooperative localization
• interacting multiple model
• extended kalman filter