Communication delay compensation method and system based on autonomous robot

A communication delay compensation method based on an autonomous robot, comprising following steps:

• establishing a state equation based on a system model of an AUV positioning system;
• acquiring an included angle between a direction vector of an AUV to an observation station and a velocity vector of the AUV based on the system model;
• establishing an observation equation according to the state equation and the included angle;
• establishing an extended Kalman filter equation based on the system model, the included angle and the observation equation;
• and
• calculating a position information predicted value at a current time by using the extended Kalman filter equation to complete communication delay compensation;
• wherein a method for acquiring the included angle comprises following steps:
• establishing a Doppler measurement equation according to the system model, and acquiring the included angle through a backward deduction of the Doppler measurement equation;
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• wherein ƒs represents a frequency of an acoustic signal emitted by a target;
• ƒk represents a frequency of an acoustic signal theoretically received by the target;
• {tilde over (ƒ)}k represents a frequency of an acoustic signal actually received by the target;
• ek represents frequency noise;
• c represents a propagation speed of a propagation signal in water;
• vk represents a driving speed of the AUV;
• u represents a position of the observation station;
• sk represents a position of the AUV at k point of time;
• βk represents the included angle between the direction vector of the AUV to the observation station and the velocity vector of the AUV;
• T represents a vector transposed symbol.