| Currently, underwater vehicle is being used in marine resources exploiting and ocean engineering more and more widely. But affected by the complex working environment of ocean, it is still very difficult to locate the accurate position of an underwater vehicle. With the progress of satellite positioning technology and underwater acoustic technology, the satellite positioning technology has been a prevalent technical approach for the precise positioning of underwater vehicles, due to its particular advantage of high precision and flexibility.Taking the positioning issue of a certain raft-towed underwater vehicle as study background, with the help of satellite positioning technology and ultra short baseline acoustic positioning technology, the precise position resolving algorithm and software design solution of the targeted underwater vehicle is given. After the introduction of the hardware structure of targeted positioning system, by using coordinate rotation transformation theory and mathematical derivation skills, the position resolving algorithm and error evaluation method for targeted system is firstly given in this paper, with corresponding mathematical model constructed. Then, with the help of Monte Carlo method, corresponding positioning error of targeted system is analyzed and evaluated by simulation means. After that, corresponding data process methods, such as spline interpolation, linear interpolation, ?-? filtering, Kalman filtering are studied, with the position data process model set up and simulation analysis result for the position data process algorithm given. Finally, the software design procedure and test procedure for the targeted underwater vehicle are given in the end of the paper.The practical system test results show that the position resolving algorithm and data process algorithm given is feasible, and related software is stable, reliable and functionally complete, which reach targeted design requirements. |
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