Li W.-B.,Northwestern Polytechnical University |
Liu M.-Y.,Northwestern Polytechnical University |
Li H.-X.,Northwestern Polytechnical University |
Li H.-X.,Wenzhou University |
And 2 more authors.
Zidonghua Xuebao/Acta Automatica Sinica | Year: 2011
The cooperative navigation of autonomous underwater vehicles (AUVs) is an important approach to solve the underwater navigation problems in which the localization error growth property is a key indicator. This paper deals with the performance analysis of the multi-AUV navigation system based on relative position measurements with a single leader. First, propagation equations are derived by using an extended Kalman filter. These equations can describe the system's global positioning error related to the measurement errors. Then, the upper bound of the covariance estimation in the steady state is obtained by solving an algebraic Riccati equation which characterizes the evolution of the system's positioning error. Theoretical analysis shows that the global positioning error of this navigation system can converge to an upper bound. Furthermore, the convergence is independent of the initial filter covariance, that is, the navigation system has a good comprehensive performance. Finally, simulation results validate the usefulness of the theoretical analysis. Copyright © 2011 Acta Automatica Sinica. All rights reserved. Source