Underwater Beacon Positioning Algorithm And Error Analysis Based On AUV

In recent years,acoustic navigation systems have become more and more widely used in marine scientific research,marine navigation,and other fields,especially in underwater submarines.Underwater beacons are an important part of the acoustic navigation system and a key factor in determining the accuracy of the acoustic navigation and positioning system.Therefore,studying the positioning of underwater beacons has a strong practical application value.At present,the positioning of underwater beacons mainly accomplished by measuring ships using an absolute array or relative array technology on the surface.The position of the underwater beacon is likely to be exposed during the positioning process by this method.In order to ensure the concealment of the positioning work,this paper proposes an AUV based underwater beacon positioning method,and the main research contents are as follows:1.The overall design of the underwater beacon positioning system based on AUV carried out.The specific process of underwater beacon positioning based on AUV studied through the demand analysis of this project,and the underwater beacon positioning scheme is determined.Then the technical indicators of the equipment used in this project are determined by consulting the data.Finally,the theory of the underwater beacon positioning algorithm is analyzed,and the error source determined according to the underwater beacon positioning process.2.The AUV sea route for beacon positioning designed.First,the effects of various parameter measurement errors and AUV maneuvers on underwater beacon positioning errors are analyzed.Considering the ranging error,the array of three measuring points and the distance between the single measuring point and an underwater beacon to be measured designed for single beacon positioning,and the number of measurements at each data acquisition point is determined.Finally,based on the research of single beacon positioning,the sea route for underwater beacon positioning is determined.3.The underwater route for beacon positioning designed.First of all,considering the positioning error of the inertial navigation system,the number of measurements at each data acquisition point in the single beacon positioning is optimized again.Based on the influence of the up floating arrival error of AUV on the beacon positioning error,the up floating-point of AUV in the beacon array positioning process designed.Besides,considering the positioning error and efficiency,the AUV submergence mode is determined.Finally,according to the problems related to the underwater route design of single beacon positioning,the whole route of underwater beacon array positioning based on AUV is determined.4.This paper studies the application of the DBSCAN algorithm in the beacon location.Firstly,it makes a theoretical analysis of the DBSCAN algorithm,introduces the related concepts of the DBSCAN algorithm,and determines the steps and flow chart of the DBSCAN algorithm.Then,the application process of the DBSCAN algorithm in the beacon location determined by analyzing the data distribution map.