---
publication_id: "OT-2026-000000373"
title: "Communication delay compensation method and system based on autonomous robot"
published_at: "2026-09-15T19:02:48.440009Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000373"
categories:
  - "sensors-controls-machine-vision/industrial-control"
keywords:
  - "g05d1/24"
  - "b63g2008/004"
  - "b63g8/001"
  - "b63g8/39"
  - "g01s15/58"
  - "g05d2109/38"
---

# Communication delay compensation method and system based on autonomous robot

## Abstract

The disclosure provides a communication delay compensation method and a communication delay compensation system based on an autonomous robot, where the method includes the following steps: establishing a state equation based on a system model of an the AUV positioning system; acquiring an included angle between a direction vector of the 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 the current time by using the extended Kalman filter equation to complete communication delay compensation.