Data Fusion Of Navigation And Positioning Based On SBL For AUV Underwater Recover

Autonomous Underwater Vehicle is an important tool for the development of ocean resources, and the navigation and positioning technology is one of the key technologies of underwater recover for AUV. According to the process of underwater recover for AUV, this paper focus on the short base-line navigation and positioning system, kalman filtering method and the navigation and positioning data fusion based on federated kalman filtering. Based on the proposed methods, the navigation and positioning precision is improved. The main work and results as follows:Firstly, the process of underwater recover for AUV is analyzed, and based which, scheme of underwater recover for AUV is proposed; the short base-line navigation and positioning system and the vision navigation and positioning system are established. The composition and the main principle of the short base-line navigation and positioning system is described in detail and the vision navigation and positioning system is described in a nutshell.Secondly, according to the underwater AUV recover and the designed underwater navigation and positioning system, the control structure of the navigation and positioning system is designed; the underwater navigation and positioning coordinate system and the models of the navigation and positioning system are established respectively. The coordinate system mainly contents AUV coordinate system and the short base-line coordinate system; and the models mainly includs AUV motion model, sensors model, system noise model and environmental noise model.Thirdly, the data fusion method of the navigation and positioning information in the process of underwater recover for AUV is researched. Among this, the kalman filtering method, improved kalman filtering methods and the volatilization and restraint of kalman filtering problem are especially researched. Based on the data fusion method, a federated kalman filtering data fusion structure for the short base-line navigation and positioning system of underwater recover for AUV is designed.Lastly, according to the underwater recover system for AUV, the underwater navigation and positioning system and data fusion method, the short base-line navigation and positioning system, data fusion structure is designed and validated by both simulation and tank experiment. The results showed that the navigation and positioning data fusion method could improve the navigation and positioning precision which can be applied to the underwater recover for AUV autonomously.