多无人艇协同动力定位对高精度、高稳定性的需求越来越迫切。首先构建包含艇间状态交互机制的多无人艇协同模型，通过姿态转换与延迟补偿策略实现通信约束下局部信息的有效传递与融合。设计协同高增益观测器，并引入动态协同权重与干扰补偿机制，平衡观测器的收敛速度、噪声抑制能力与鲁棒性；最后提出具备延迟补偿的协同高增益观测器算法（Coop-HGO），以扩展卡尔曼滤波（EKF）、无延迟补偿的Coop-HGO算法为对比算法开展仿真验证。结果表明，本文算法在队形保持误差（FME）、状态估计均方根误差（SER）等核心指标上表现优异，验证了所设计协同机制与延迟补偿策略的有效性。
The demand for high precision and high stability in the cooperative dynamic positioning of multiple unmanned surface vehicles (USVs) is becoming increasingly urgent. First, a cooperative model of multiple USVs incorporating an inter-vessel state interaction mechanism is established, and the effective transmission and fusion of local information under communication constraints are realized through attitude transformation and delay compensation strategies. A cooperative high-gain observer (Coop-HGO) is designed, and dynamic cooperative weights and a disturbance compensation mechanism are introduced to balance the convergence speed, noise suppression capability, and robustness of the observer. Finally, a cooperative high-gain observer algorithm with delay compensation (Coop-HGO) is proposed, and simulation verification is conducted with the Extended Kalman Filter (EKF) and the Coop-HGO algorithm without delay compensation as comparative algorithms. The results show that the proposed algorithm achieves excellent performance in core indicators such as formation maintenance error (FME) and root mean square error of state estimation (SER), which verifies the effectiveness of the designed cooperative mechanism and delay compensation strategy.
2026,48(4): 185-189 收稿日期：2025-6-5
DOI：10.3404/j.issn.1672-7649.2026.04.028
分类号：U674.91；TP273
基金项目：浙江省交通运输厅研发项目（JTYST2023GK020）
作者简介：王中顺(1974-),男,硕士,讲师,研究方向为自动控制
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