Small Range And High Precision Integrated Navigation System Research For Underwater Vehicle

Currently underwater tasks are commonly completed by Human Occupied Vehicle (HOV) and Remotely Operated Vehicle (ROV). But HOV has complex life support system which greatly improves the operating cost. ROV is easy to happen umbilical cord rope winding accident in operation around the column. And when in long distance operation along the cable, mother ship needs to follow ROV to move and has a dynamic positioning capability which greatly improves the operating cost. Therefore, autonomous operation of underwater vehicles which can solve problems mentioned above slowly becomes research hotspot.This paper is aimed at the navigation technology in autonomous operation. It makes use of low-cost MEMS inertial measurement unit, compass and simulative visual sensor to constitute an integrated navigation system and adopts out-of-sequence correction Kalman Filter (OOSCKF) to solve the out-of-sequence problem of multi-sensor. It successfully develops an underwater vehicles’navigation system of high precision and high frequency which is suitable for autonomous operation. This paper is divided into six chapters:The first chapter introduces the background of this subject, the research status of underwater vehicles and underwater navigation technologies and puts forward the main content and significance of this subject based on the analysis of the advantages and disadvantages of single underwater navigation technology.The second chapter proposes the solution based on the needs of autonomous operation of underwater vehicles, elaborates the principle and constitution of the integrated navigation system and carries out the status information calculating of SINS, the fusion center design and the sensor selection respectively.The third chapter is aimed at the fusion problem of underwater vehicles’ navigation system. It carries out fusion model design and system modeling research and solves out-of-sequence problem of multi-sensor based on the fusion algorithm research based on real-time information and out-of-sequence information respectively.The fourth chapter is aimed at using PM to simulate underwater vision sensor to solve the long development cycle problem. It introduces the design process and position information calculating process in detail and verify that PM can be used to simulate common underwater vision sensor through tests.The fifth chapter is aimed at the experiment research of underwater vehicles’ navigation system. It introduces the construction of experiment system and the design of the circuit and the control programs respectively in detail and carries out static attitude and position and dynamic position navigation experiment respectively to verify the superiority of the designed integrated navigation system’s performance.The sixth chapter summarizes the main research work, points out the innovation points and proposes the direction of further research based on the deficiencies.