Research On Target Tracking Approach With Autonomous Underwater Vehicle

Underwater target tracking with autonomous underwater vehicle (AUV) is a verypopular research content in recent years which can be applied to survey underwatermineral, check underwater pipeline or cable, defense harbor and even attack target.Focusing on the target tracking method with AUV, this paper presents the solutions of thekey problems including the mathematical models of the target, the method of targetmovement state estimation, mathematical model of AUV, target tracking guidance,controller design of target tracking and target tracking stragety for AUV:Firstly, considering the targer whether maneuvers, some typical movement modelsof underwater target are presented, including constant velocity model (CV model),constant acceleration model (CA model), Singer acceleration model, constant turn ratemodel (CT model) with known turn rate and constant turn rate mode with unknown turnrate. The kinematic equations of each model will be presented.Secondly, research on target movement state estimation methord. Based on the bacisconcept of state estimation and the principle of Kalman filter (KF), four target movementstate estimation methods are designed based on KF, extened Kalman filter (EKF),unscented Kalman filter (UKF) and interacting multiple model (IMM) algorithmindividually. And the validation of each target movement estimation methords is povedby the simulation experiments of movement state estimation of maneuvering target.Thirdly, research on the design of controller and strategy for target tracking withAUV. The mathematical model of constant current, the kinematic model and dynamicmodel of AUV without current and the kinematic model and dynamic model of AUVwith constant current are presented individually. The guidance methods are introducedand pure pursuit (PP) guidance is introdeuced as target tracking guidance scheme. Thevelocity and heading controllers are designed individually with PID theory. Thesimulation experiments are designed to verify the validation of the controllers when thetarget moves along straight line and circle trajectory individually. At the end of this part,based on the underwater target tracking character(the relative distance between AUV andtarget should shorter than the measurement range of sonar and longer than the dangerdistance) and constraints of lowest power consumption, the target tracking strategy isdesigned.Lastly, based on the underwater target model, target movement state estimationmethod, the model of AUV, targe tracking controllers and target tracking stragety mentioned above, a software simulation platform of target tracking with AUV isdevelopped. And based on the simulation platform, a series of simulation experiments oftracking target which moves along preceise trajectory or along with circle are designed toverify that the target movement estimation method, the mathematical model of AUV, thetarget tracking controller and target tracking stragety surveyed above are useful andvalid.