Research On The High Latitude Of Autonomous Underwater Vehicle Integrated Navigation Method

Autonomous underwater robots are one of the important high technology tools that play an important role in the study on the polar Marine environment,hydrological characteristics,the earth’s climate,and the exploration of the polar Marine natural resources.They attract more and more attention of the countries all over the world.With the development of polar regions,there will be more broad application background for the autonomous underwater robots.But,it is the navigation technology that is one of the key technologies for the development of autonomous underwater robots.The autonomous underwater robots used high precision navigation technology could get the access to high precision operations.However,the single navigation system can meet the demand of navigation difficultly because of the Marine complicated unknown influence on navigation sensors,so that the autonomy and reliability of autonomous underwater robot can be affected,and the ability of its anti-interference would be weakened.Therefore,given this,the integrated navigation is preferred so as to ensure the strong anti-interference ability,high reliability for autonomous underwater robots in the polar region.The high-precision nonlinear filtering algorithm with strong adaptability is the key to the integrated navigation system.But if the system is operated in the polar,it should be embedded in algorithms different from low latitude’s.This article centers on polar autonomous underwater robot navigation problem and implements study.First of all,domestic and foreign research situation is studied on the basis of research background and significance,and some questions about navigation are put forward.Meanwhile,The existing navigation technology and their problem used in high latitudes are researched,and their improvement from technical level is raised.Secondly,high latitudes integrated navigation system not close to the pole and integrated navigation system close to the pole are designed,and then sensors suitable for high latitudes integrated navigation,dead reckoning,Unscented Kalman Filter(UKF)and Square Root Unscented Kalman Filter(SRUKF)are described in detail.Thirdly,the traditional long baseline acoustic positioning system is studied in detail,including the single transponder principle of direction finding,the single transponder localization algorithm,the double transponders localization algorithm,the more than three and three transponders localization algorithm.Some algorithms fit for acoustic determination of course near the pole are put forward on the basis of this,including heading determination algorithm based on multiple hydrophones and transponders,heading determination algorithm based on single hydrophone and single transponder,heading determination algorithm based on single hydrophone and double transponders,heading determination algorithm based on double hydrophones and single transponder.Finally,experimental verification of those algorithms fit for acoustic determination of course near the pole are carried out,and the results suggest that heading determination algorithm based on multiple hydrophones and transponders can meet the needs of 1o heading accuracy and is fit for low speed,heading determination algorithm based on single hydrophone and single transponder can satisfy the close ideal course requirements and is fit for high speed,heading determination algorithm based on single hydrophone and double transponders can make heading swung from side to side more uniformly on the premise of using UKF filter and is fit for low speed,heading determination algorithm based on double hydrophones and single transponder would make the autonomous underwater vehicle approach the transponder in a spiral line and is fit for high speed.Then,UKF and dead reckoning are tested by using real experimental data.