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Cooperative single-beacon multiple AUV navigation under stringent communication bandwidth constraints ?

机译：合作单标信标多AUV导航在严格的通信带宽约束 ？

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摘要

In this paper we propose a method of cooperative navigation of a fleet of AUVs moving in formation with stringent limitations on the bandwidth of the underlying acoustic communications network. In the methodology proposed, one vehicle is equipped with a DVL and the others are equipped with acoustic modems and range-measuring devices that can only measure ranges to the remaining vehicles in the formation and to an underwater beacon or transponder located at a known position. Based on DVL and range measurements, and through the exchange of information among the vehicles, each vehicle must estimate its own position and the positions of the other vehicles in the fleet. The estimates obtained are then used for geo-referencing purposes as well as formation control. We use methods of distributed and quantised state estimation to solve this problem. We investigate through numerical simulations what type of information should be shared among the vehicles (range measurements or position estimates) for an efficient tradeoff between bandwidth and state estimation performance, which may lead to a better scalability of the formation.
机译：在本文中，我们提出了一种通过对底层声学通信网络的带宽的严格限制来提出一种AUV舰队的协作导航方法。在所提出的方法中，一辆车用DVL配备了DVL，其他车辆配备有声学调制解调器和测距仪，该测距装置可以仅测量到地层中的剩余车辆和位于已知位置的水下信标或转发器的范围。基于DVL和范围测量，并通过车辆之间的信息交换，每辆车必须估计其自己的位置和舰队中其他车辆的位置。然后，获得的估计用于地理参照目的以及形成控制。我们使用分布式和量化的状态估计方法来解决这个问题。我们通过数值模拟进行调查，在带宽和状态估计性能之间的高效权衡中，应在车辆（范围测量或位置估计数）之间共享哪种信息，这可能导致形成的更好可扩展性。

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