| "211" Autonomous Underwater Vehicle (AUV) was developed by College of Marine Engineering of Northwestern Polytechnic University. This paper provides an overview of "211" AUV and its control and navigation performance. An attempt is made to highlight its current operation capability and provide a description of future enhancement for greater mission utility and flexibility.An overview of the vehicle design along with description of all major hardware components and sensors is given. The arithmetic of AUV control and navigation system is discussed in the paper. The methods of the implementation of GPS and electronic compass aided heading control is provided. Due to mission requirements, the PD depth control arithmetic is designed and the simulation result is provided. In order to reduce heading control bias, the compass data bias is corrected. Experiment results for navigation using a GPS aided navigation and control system is presented and control system performance is analyzed. At the end, the improvement of AUV is provided. |
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