Research On Navigation Technology Of Semi-submarine Unmanned Vehicle

China has a large demand for intelligent unmanned boats.The types of related unmanned boats are also very diverse.Although China has made some significant progress in the research of conventional unmanned boats,it is far from being practical.Demand is still far from the unmanned boat research in developed countries such as the United States.Semi-submersible unmanned vehicles can be used for marine environmental monitoring,offshore military defense,enemy detection,etc.Although China has made some achievements in semi-submersible unmanned vehicle research,most of them are still in the research stage,The semi-submersible unmanned boat also has been studied by Shanghai Ocean University.Due to its new technical ideas,the semi-submersible intelligent unmanned vehicle can take advantage of both the submersible and the surface unmanned boat,but the semi-submersible unmanned vehicle has not yet reached the practical level.At the stage,there are still some problems.The main research contents are as follows:Aiming at the problem of low navigation accuracy of semi-submersible unmanned vehicle,a dual-mode navigation and positioning method based on the combination of Global Positioning System(GPS)and BeiDou Navigation Satellite System(BDS)is proposed to improve positioning accuracy.Different navigation and positioning results after filtering GPS/BDS combined dual-mode positioning data by dual-mode positioning of GPS,BDS single-mode positioning and GPS/BDS combination and data processing method using Kalman filter and particle filter algorithm The comparative analysis shows that the dual-mode navigation and positioning method of GPS/BDS combination improves the positioning accuracy in GPS and BDS single mode,and further improves the positioning accuracy of the dualmode navigation positioning method by combining filtering.In terms of optimal path planning,in order to solve the problem that the ant colony algorithm lacks initial pheromone in path planning,path search planning is slow,and more iterations are needed to find the approximate optimal solution,and the accuracy is large in the search space.Under the problem that the optimal solution cannot be found,this paper proposes an improved ant colony algorithm for global path planning.At the beginning of the planning path,the A* algorithm is used to establish the optimal path cost function between each node to reduce the blindness of the ant colony algorithm search.Then the “virtual end point” is introduced to reduce the search space,reduce the number of iterations,and improve the algorithm planning.The accuracy and efficiency of the optimal path.At the end of the thesis,the research and design of the semi-submersible unmanned vehicle function developed by our research group is carried out,including the overall scheme design of the navigation control system,the software and hardware design of the system,the navigation function test of the unmanned boat and the field experiment.The navigation method selects the GPS/BDS dual-mode navigation and positioning with higher navigation and positioning accuracy,and uses the combined data processing and filtering method of Kalman filter and particle filter to filter the dualmode positioning data.Then,the improved ant colony algorithm proposed in this paper is used to optimize the path of the semi-submersible unmanned vehicle track,so that the navigation route through the data collection point is the shortest.Finally,after several experiments,the semi-submersible unmanned vehicle navigation positioning latitude and longitude error within the allowable range,and the planned path between each data collection point is the optimal path,and the designed navigation of semi-submersible unmanned vehicle is obtained.The function basically meets the requirements.