为研究以距离为观测量的主从式无人水面航行器(unmanned surface vehicle,USV)协同定位系统在不同运动状态下的定位性能问题,建立一种新的协同坐标系,并在该坐标系中推导主从USV运动模型,以主从USV相对距离为观测量分析主从式USV协同定位系统的可观测性及可观测度.同时,针对不可观测路径,提出通过改变控制输入的方法以达到提高系统可观测度的目的.通过MATLAB仿真实验与水面舰艇实验,结果表明:在不同情况下,通过调整控制输入的方法改变系统的可观测度是有效的;利用所提出的分析方法可以反映协同定位系统的定位性能,验证了所得结论及方法的有效性.%This paper studies the performance analysis of the multiple USVs' cooperative localization system based on the relative distance measurements with a single leader under different maneuver conditions. In order to analyze the performance of the cooperative localization system quantitatively, a new cooperative coordinate is established and motion models of the leader and follower USVs are derived. Furthermore, the USV cooperative localization system' s observability and the degree of observability is analyzed. In addition, aiming at unobservable paths, a method about changing control input is proposed to improve the degree of observability. Through MATLAB simulation experiment and water experiment results show that under different conditions, by adjusting the control input method to change the system observability is effective. And the results show that the analysis method proposed in this paper can reflect the positioning performance of cooperative positioning system, verify the effectiveness of this method.
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