Research Of AUV Integrated Navigation Method Based On Dynamica Model

Micro autonomous underwater vehicle has become a significant tool for variescountries to make their marine environment exploration since the20th century.Therefore, autonomous navigation system has become the key technologies ofautonomous underwater vehicle exploration mission. Due to the limitation of detectorvolume, power consumption and working environment, some traditional methods ofnavigation such as GPS could not be applied. So the micro-mechanical measurementunit takes the prior position to the device for autonomous underwater vehiclenavigation. However, the exterior correction should be used to aid the navigation errordue to the characteristics of error accumulation caused by inertial navigation system.Because of the constraints of size and power consumption, the presented externalsensor was not chose as Doppler-velocimetry, The proposed method is used inertialnavigation system as the core, adding the compass correction information andunderwater vehicle motion model-assisted methods. This paper includes the followingaspects:Firstly, according to the special nature of the constraints of the various sensorsand AUV work environment, this paper presents polarization/DVL/SINS combinationmode, the camera instead of the traditional use of polarized light sensors to measurethe magnetic compass heading angle AUV, and since as a combination withnavigation auxiliary information. And this design federal Kalman filter for filteringthe system estimates will filter the results back to the integrated navigation system toreduce the navigational error of navigation, while the use of simulation of this systemwas verified.Secondly, due to the limitations noted DVL working conditions, the introductionof micro and small underwater vehicle research stage to the kinematic model of themicro and small AUV carried water stress analysis, kinematic model AUV. Due to thecomplexity of the marine environment, the force suffered could not be evacuatedaccurately. The model of the force suffered needs to be applied in a particular workenvironment. In which the vehicle should be under the environment without aircraftand swirl flow. The model was established on secondary kinetic model combined withmagnetic compass heading information. And the conventional Kalman filter forfiltering was presented, including the results of the feedback filter integratednavigation system to reduce the navigational error.Due to the complexity of the Marine environment, underwater vehicle is easilyaffected by sea whirlpool or boundary flow, therefore，We improved the originalkinematics model of underwater vehicle，take the vortex or boundary flow’s impact into account. This will in the output of the auxiliary information exists in the uncertaindynamic model of the measurement noise which made the traditional Kalman filterunusable. To satisfy the stability of the navigation system, We proposethe adaptivekalman filter estimate the uncertainty model.We use Sage-Husa adaptive kalman filter and adaptive kalman filter fadingfactor, the fuzzy adaptive kalman filter to filter operation and simulation aiming at theuncertainty of measurement noise in the navigation system，Using the T-S fuzzymodel and Mamdani model to achieve fuzzy adaptive kalman filtering。We come upwith the mathematical function of fuzzy process fitting to solve the problem that largeamount of calculation of the fuzzy controller and the algorithm of high degree, weusing the method of fitting function instead of a fuzzy controller to improve theoperation speed of the system simultaneously.