The Research Of The Method Of Correction For Autonomous Underwater Vehicle Navigation System

Since the21st century, the global invest in the ocean development more and more, as theurgent need of the Marine development, the Autonomous Underwater Vehicle technology hascaused more and more attention, and also obtain a rapid development. The technology ofunderwater navigation is one of the key points and difficult problems for AUV (AutonomousUnderwater Vehicle) technology. A precise underwater navigation is the important guaranteefor AUV to navigate independently and finish the mission successfully. So analyze the factorsof affecting the errors of the AUV navigation system and take some corresponding methods tocorrect and improve the navigation system. is of great significance for practicality applicationof the AUV.This paper has studied on the error of dead reckoning system. The accuracy of deadreckoning navigation had been affected by the sensor itself which exists measuring error, suchas attitude sensors, speed sensors and so on, also the installation error of integrated navigationsensors and the irregular of the earth can reduce the accuracy of dead reckoning, and the errorwill accumulated along with the time. The paper introduces the earth ellipsoid model to thedead reckoning and establishes the navigation equation, and corrects the navigation equationby analyzing the factors of affecting the errors of the AUV navigation system, then the papertakes the method of the least square to identify the error parameter, and uses the parameter tocorrect the navigation equation of the dead reckoning at last. And it suggests that it canimprove the navigation precision effectively by the sea trial.This paper proposes a method of range-only position to correct the underwaternavigation for a deep-diving AUV. The method establishes the range-only position equationand transforms it into a question of optimization which has a modality of nonlinear least meansquare, and uses the Nelder-Mead simplex search method to solve it. By analyzing the errorsources of the method, the paper has done a simulation test for the navigation of a deep-divingAUV in different depths, and it presents that the method can correct the underwaternavigation system effectively.