Research Of Underwater Glider System Design And Navigation Methods

The underwater glider, invented in the1990s, now has broad application prospects through20years of research. For instance, in the field of scientific research,it can conduct a periodicobservation of Marine lives and the current distribution, oceanographic surveys and seabedcomposition could also be made by underwater glider; it’s also capable of detecting complexseabed mineral deposits (such as manganese nodules and flammable ice) when it comes toeconomic construction. What’s more, Civilian applications such as underwater archaeology andwreck salvage can also benefit from the advantages of underwater gliders. In Military field, it iswidely used in tactical reconnaissance, submarine rescue, mine monitoring and so on. Therefore,the development of underwater glider system can effectively support the economic and militaryconstruction.An underwater glider system is presented. It includes mechanical structure, electronicsystems and software system. Then on the basis of characteristics of the underwater glidernavigation and positioning, the water-underwater navigation and positioning algorithm has beenproposed, namely, GPS providing the location of the underwater glider, the underwater gliderusing the information collected by electronic compass and AHRS, combined with the data fusiontheory, using the extended kalman filter to make dead reckoning of itself. The Matlab simulationprocessing has proved that the algorithm is really effective. At the same time, this paper discussesa kind of collaborative navigation algorithm, which can be used in collaborative multi-underwaterglider navigation. This algorithm is based on acoustic radio communication, combined with anadaptive extended kalman filtering theory (A-EKF) to collaborative navigation.