Studies On Navigation And Positioning Technology Based On A Small AUV For Observation

One of the key technology associated with the Autonomous Underwater Vehicle (AUV) is navigation, data collected for later analysis can be meaningful only if the location of the vehicle is available and accurate at the time the information is recorded. This thesis does a preliminary study on the navigation and positioning technology of the observation-based AUV.This paper studies the present state of several observation-based AUVs at home and abroad,concludes the development trend of the AUVs, on the basis of this, analyses the present state and development direction of the AUVs'navigation and positioning technologies.The AUV uses dead reckoning / GPS navigation, with ADCP, compass and GPS as navigation sensors,uses dead reckoning for underwater autonomous positioning. Random errors exist in ADCP and compass measurement in the ocean conditions, these errors can be integrated and impact the positioning accuracy for long distance submerged travel,so GPS is needed to correct the errors. This thesis also introduces the principles of ADCP, three-dimensional electronic compass, GPS, and presents the Bessel anti-algorithm.This paper investigates the accuracy problem in AUV underwater location. Kalman Filter is selected for data fusion of various navigation and positioning parameters'errors based on the characteristics of the errors,EKF(Extended Kalman Filter)is presented under the principle of integrated navigation, Kalman Filter's system equation and measurement equation are etablished, filtering algorithm is designed, a simulation experiment is completed ,the result shows that the algorithm can be very good for data fusion and filtering and improve navigation and positioning accuracy.