Study On Underwater Glider Integrated System Design And Navigation Algorithm Based On Digital Signal Processing(DSP)

With the development of science and technology, the underwater vehicle is an important tool for exploring and utilizing ocean resources. It plays an important role in both in military and civilian. The Underwater Glider is designed to monitor and measure the ocean environment and it is a new type of underwater vehicle, whiche combined buoy technology and underwater vehicle technology. The Underwater Glider is a fully autonomous intelligent underwater vehicle, while can glide accord to a pre-set routes and omplete the task. In order to make the glider move accord to the pre-set routes, it needs to provide real-time navigation and positioning information for the glider to adjust attitudes and control other systems. Therefore, a stable, reliable and high-precision navigation and positioning system need to provide for the glider. This paper around the underwater glider work characteristics and requirements as well as the complex, and less information sources characteristics of underwater navigation, a underwater inertial navigation, satellite navigation and geomagnetic navigation combined system is provided for the underwate glider navigation and positioning. When the glider working underwater, the inertial navigation and geomagnetic navigation combined way is chosed for navigation and positioning. When the glider working on the surface, two ways can be used:one is a combination of satellite navigation and inertial navigation mode, the other is inertial navigation, satellite navigation and geomagnetic navigation combinations mode.Firstly, the basic theories and principles of navigation and position subsystems, providing a theoretical basis for navigation and positioning algorithm design. Secondly, to calibrate sensors error by analyzing the sensors error characteristics and establishing the error mode and designing calibrate algorithm to achieve calibration. Using static eight positions and velocity experiment to calibrate groscope errors, using direct least squares fitting ellipsoid to calibrate accelerometer, using total least squares to direct calibrate magnetometer. Thidly, design hardware and PCB schematic and we also design PC software for the system to collect and display data. Fourth, did reaserch on navigation and position algorithms for the underwater glider, including:inertial navigation and satellite navigation combination, inertial navigation and geomagnetic navigation combination, inertial navigation, satellite navigation and geomagnetic navigation combination. Finally, many experiments are be done to verify the system performance.In summary, we designed hardware and software for the combined navigation and positioning system, and we did algorithm research, including navigation and position combined algorithm and sensor error correction algorithms, and we also did many experiments to examine the navigation positioning.