A Parallel fusion method for AUV cooperative localization based on weighted information gain

Table 1. Definition of AUV motion parameters
View table
View in Article
Table 1. Definition of AUV motion parameters
运动参数 X轴 Y轴 Z轴
位移 $ x $ $ y $ $ {\textit{z}} $
速度 $ u $ $ v $ $ w $
角度 $ \phi $ $ \theta $ $ \psi $
角速度 $ p $ $ q $ $ r $

Table 2. Filtering and fusion results of AUV system

View table

View in Article

Table 2. Filtering and fusion results of AUV system

滤波数据类别	测量值/m	滤波误差/m	信息增益/nat	融合权值
AUV1局部滤波	$ (70.2,\; 69.1,\; 53.4) $	$ (1.2, \;0.1,\; 18.8) $	$ 0.138\; 5 $	0.303 1
AUV2局部滤波	$ (69.9,\;68.7,\;79.4) $	$ (0.9, \;0.3, \;7.2) $	$ 0.176\;4 $	0.386 0
AUV3局部滤波	$ (66.7,\;68.1,\;62.6) $	$ (2.3,\; 0.9,\; 9.6) $	$ 0.142\;1 $	0.310 9
滤波融合	$ (69.0,\;68.7,\;66.0) $	$ (0,\; 0.3, \;6.2) $	−	−

Table 3. Absolute errors comparison of system filtering and fusion results in Case 1

View table

View in Article

Table 3. Absolute errors comparison of system filtering and fusion results in Case 1

迭代时刻	绝对误差
迭代时刻	AUV1量测	AUV2量测	AUV3量测	滤波融合
Step15	$ (2.12,1.36,12.04) $	$ (1.18,3.02,7.57) $	$ (0.95,1.66,4.47) $	$ (0.16,\mathrm{ }0.26,\mathrm{ }0.95) $
Step30	$ (2.73, \;1.15, \;8.57) $	$ (1.92, \;1.87, \;0.35) $	$ (0.81, \;0.72, \;8.22) $	$ (0.15, \;0.05, \;0.56) $
Step45	$ (1.09, \;0.91, \;5.17) $	$ (1.12, \;2.34, \;3.31) $	$ (0.03, \;1.43, \;1.86) $	$ (0.02, \;0.02, \;0.12) $
Step60	$ (1.34, \;1.21, \;9.48) $	$ (0.08, \;0.98, \;11.0) $	$ (1.42, \;0.22, \;1.53) $	$ (0.07, \;0.17, \;1.30) $
Step75	$ (3.00, \;0.88, \;23.7) $	$ (0.64, \;2.58, \;15.3) $	$ (2.36, \;1.70, \;8.43) $	$ (0.34, \;0.05, \;2.46) $

Table 4. Fitting precision comparison of system filtering and fusion results in Case 1

View table

View in Article

Table 4. Fitting precision comparison of system filtering and fusion results in Case 1

迭代时刻	均方误差				拟合标准差
迭代时刻	AUV1量测	AUV2量测	AUV3量测	滤波融合	AUV1量测	AUV2量测	AUV3量测	滤波融合
Step15	$ 50.47 $	$ 22.61 $	$ 7.88 $	$ 0.33 $	$ 7.10 $	$ 4.75 $	$ 2.81 $	$ 0.58 $
Step30	$ 27.40 $	$ 2.44 $	$ 22.91 $	$ 0.33 $	$ 5.23 $	$ 1.56 $	$ 4.79 $	$ 0.33 $
Step45	$ 9.59 $	$ 5.90 $	$ 1.84 $	$ 0.01 $	$ 3.10 $	$ 2.43 $	$ 1.35 $	$ 0.07 $
Step60	$ 31.01 $	$ 40.71 $	$ 1.47 $	$ 0.57 $	$ 5.57 $	$ 6.38 $	$ 1.21 $	$ 0.76 $
Step75	$ 190.91 $	$ 80.31 $	$ 26.53 $	$ 2.05 $	$ 13.82 $	$ 8.96 $	$ 5.15 $	$ 1.43 $

Table 5. Absolute errors comparison of system filtering and fusion results in Case 2

View table

View in Article

Table 5. Absolute errors comparison of system filtering and fusion results in Case 2

迭代时刻	绝对误差
迭代时刻	AUV1量测	AUV2量测	AUV3量测	AUV4量测	滤波融合
Step15	$ \left(\mathrm{0.08,0.39,0.65}\right) $	$ \left(\mathrm{0.79,0.72,0.38}\right) $	$ \left(\mathrm{1.03,0.20,0.12}\right) $	$ (0.\mathrm{65,0.53,0.03}) $	$ \left(\mathrm{0.63,0.11,0.11}\right) $
Step30	$ \left(\mathrm{0.29,0.18,0.86}\right) $	$ \left(\mathrm{0.56,0.85,0.22}\right) $	$ \left(\mathrm{0.23,0.01,0.01}\right) $	$ \left(\mathrm{0.14,0.25,0.13}\right) $	$ \left(\mathrm{0.09,0.35,0.30}\right) $
Step45	$ \left(\mathrm{0.09,0.39,0.99}\right) $	$ \left(\mathrm{0.67,0.60,0.29}\right) $	$ \left(\mathrm{0.05,0.63,0.18}\right) $	$ \left(\mathrm{0.26,0.96,0.29}\right) $	$ \left(\mathrm{0.22,0.34,0.44}\right) $
Step60	$ \left(\mathrm{0.56,0.16,0.79}\right) $	$ \left(\mathrm{0.03,1.14,0.01}\right) $	$ \left(\mathrm{0.60,0.03,0.15}\right) $	$ \left(\mathrm{0.19,0.08,0.71}\right) $	$ \left(\mathrm{0.23,0.31,0.41}\right) $
Step75	$ \left(\mathrm{1.53,1.15,0.15}\right) $	$ \left(\mathrm{1.22,0.56,0.37}\right) $	$ \left(\mathrm{0.58,0.62,0.22}\right) $	$ (\mathrm{1.41,1.05,0.01} $	$ \left(\mathrm{1.19,0.84,0.10}\right) $

Table 6. Fitting precision comparison of system filtering and fusion results in Case 2

View table

View in Article

Table 6. Fitting precision comparison of system filtering and fusion results in Case 2

迭代时刻	拟合标准差
迭代时刻	AUV1量测	AUV2量测	AUV3量测	AUV4量测	滤波融合
Step15	$ 0.44 $	$ 0.66 $	$ 0.61 $	$ 0.48 $	$ 0.38 $
Step30	$ 0.53 $	$ 0.60 $	$ 0.13 $	$ 0.18 $	$ 0.26 $
Step45	$ 0.62 $	$ 0.55 $	$ 0.37 $	$ 0.60 $	$ 0.34 $
Step60	$ 0.56 $	$ 0.66 $	$ 0.36 $	$ 0.43 $	$ 0.32 $
Step75	$ 1.11 $	$ 0.80 $	$ 0.50 $	$ 1.01 $	$ 0.84 $

Tools

Get Citation

Copy Citation Text

Jie JIAN, Zhiyu ZHU. A Parallel fusion method for AUV cooperative localization based on weighted information gain[J]. Chinese Journal of Ship Research, 2022, 17(4): 79

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category:

Received: Jun. 29, 2021

Accepted: --

Published Online: Mar. 26, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.02434

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Definition of AUV motion parameters

Table 1. Definition of AUV motion parameters

Table 2. Filtering and fusion results of AUV system

Table 2. Filtering and fusion results of AUV system

Table 3. Absolute errors comparison of system filtering and fusion results in Case 1

Table 3. Absolute errors comparison of system filtering and fusion results in Case 1

Table 4. Fitting precision comparison of system filtering and fusion results in Case 1

Table 4. Fitting precision comparison of system filtering and fusion results in Case 1

Table 5. Absolute errors comparison of system filtering and fusion results in Case 2

Table 5. Absolute errors comparison of system filtering and fusion results in Case 2

Table 6. Fitting precision comparison of system filtering and fusion results in Case 2

Table 6. Fitting precision comparison of system filtering and fusion results in Case 2