Research On Error Information Correction Method Of UUV Docking With Underwater Mobile Platform

With the continuous development of the world economy,the world market demands more and more oil,natural gas and natural gas hydrate energy.As these natural energy resources are stored in large quantities in the Marine environment,the influence of the Marine environment is the main factor restricting the production scale,mining depth and economic income of offshore oil and gas fields.The establishment of an offshore oil and gas field based on the deep-sea space station is a good method to solve the problem.At the same time,in order to maintain the normal operation of various systems of the deep-sea space station,UUV is usually used to supply and deliver materials and energy,and it is very important for UUV to accurately locate the position of the moving space station and successfully dock with it.Therefore,it is necessary to analyze the error of the docking between UUV and the deep-sea mobile platform in detail.First of all,we study the basic composition and working principle of USBL positioning system,and make an in-depth analysis of the causes of its positioning errors,as well as a detailed derivation of the coordinate transformation formula and error error formula in the system.In view of the particularity of this paper,a grey neural network prediction algorithm is proposed to predict the traj ectory of the mobile platform.Secondly,it is necessary to analyze the classical kalman filter algorithm,and explain the limitations of the classical kalman filter in combination with the noise condition in the underwater docking environment.Thus,sage-husa adaptive kalman filter algorithm is proposed,and a time-varying noise statistical estimator is designed to estimate and correct the statistical characteristics of system noise and observation noise in real time.The sage-husa adaptive filtering algorithm was optimized based on the detailed formula derivation and analysis.Finally,the kalman filter and improve the Sage-Husa adaptive kalman filter,respectively,to process the data of simulation test and field test and analysis,the purpose is through the analysis results,compared with kalman filter,the improved Sage-Husa adaptive kalman filter has higher precision and convergence speed,can effectively reduce the error of underwater docking.