基于多个自主水下航行器的分布式协同流场估计

This paper considers the use of multiple autonomous underwater vehicles (AUVs) to estimate the flow field, and proposes a distributed method based on a tree-structure network to estimate the underwater flow field. In this paper, the flow field estimation problem is described as solving a nonlinear equation system with the unknown flow field as argument using absolute motion-integration error and relative motion-integration error. Then this paper establishes a tree-structure network with low communication cost in the multi-AUV system to run a distributed algorithm to solve the nonlinear equation system related to the flow field estimation. In this algorithm, each AUV continuously projects current flow field estimation value to the solution set of its own constraint equations. And through the two steps of dispersion and pooling, the flow field estimation value is transferred within the tree-structure network. This paper proves the convergence of the proposed algorithm, and the effectiveness of the distributed cooperative flow field estimation method is verified through simulation experiments.