本文提出一种分布式一致性算法，使多个水下航行器在GPS信号无法覆盖的水下环境中无需直接测量环境流速即可合作估计流场。本文假设航行器能够测量其邻居的相对位置以及上浮到水面时的绝对位置。通过将测量结果转化为相对和绝对运动积分误差约束，将流场估计问题转换成一个逆问题，以分布式方式解决一组确定的非线性方程，这些方程通过一个分布式一致性算法来求解，其中每个航行器首先与邻居共享其本地流场估计，然后根据局部约束更新估计。所提方法能够在航行器通信网络发生变化时依旧有效，最后通过仿真验证了算法有效性。
This paper proposes a distributed approach that utilizes a fleet of underwater vehicles to collaboratively estimate the flow field in an underwater environment where GPS signals are inaccessible, without the need for direct measurement of ambient flow velocity. It is assumed that the vehicles can measure the relative positions of their neighbors and their absolute positions when they surface. By transforming the measurement results into constraints of relative and absolute motion integration errors, the flow field estimation problem is converted into an inverse problem, which is solved in a distributed manner for a set of determined nonlinear equations. Subsequently, a distributed consensus algorithm is proposed to address these equations, where each vehicle first shares its local flow field estimation with its neighbors and then updates the estimation based on local constraints. The proposed method can still function well when there are changes in the communication network of the vehicles, and its effectiveness has been verified through simulation experiments.
2025,47(11): 68-73 收稿日期：2024-8-12
DOI：10.3404/j.issn.1672-7649.2025.11.012
分类号：U675
基金项目：国防科技基础加强计划技术领域基金资助项目（2022-JCJQ-JJ-0524）
作者简介：羊云石(1985-),男,研究员,研究方向为水下无人系统技术
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