Research On Multi-AUV Collaborative Navigation Method Based On Improved UKF Algorithm

In the offshore landing and breaking missions,the traditional methods of saturation explosion,one-man blasting and AUV destruction have been unable to meet the operational requirements due to the continuous improvement of operational requirements.With the development of AUV and underwater acoustic communication technology,the research of Multi-AUV cooperative navigation system integrating reconnaissance and strike is of great significance.Due to the complex and changeable underwater environment and the serious limitation of underwater acoustic communication,the problems of serious noise interference,poor real-time observation and low system update frequency exist in the Multi-AUV collaborative navigation system.Based on the above background,this paper studies the chaotic Multi-AUV collaborative navigation method.The main research work is as follows:Firstly,this paper introduces the working principle of AUV collaborative navigation system,analyzes the advantages and disadvantages of single-pilot system and multi-pilot system for master-slave AUV collaborative navigation system,and establishes and simulates the AUV kinematics model.Secondly,EKF algorithm and UKF algorithm are studied for single-piloted master-slave AUV collaborative navigation system.Based on the algorithm principle,the algorithm design of the collaborative navigation system is carried out.Aiming at the influence of noise matrix on the filtering accuracy in the UKF algorithm,the design of the Particle swarm Genetic-UKF collaborative navigation algorithm is carried out.Simulation and error analysis of EKF,UKF and the improved algorithm are carried out for the collaborative navigation system.The simulation results verify the effectiveness of the improved algorithm.Finally,aiming at the problems of large measurement error,poor real-time observation and low collaborative update frequency in the collaborative navigation system,the AUV distance measurement method is improved.Combined with chaos theory and spread spectrum communication,the design of chaotic underwater acoustic spread spectrum signal is completed,and the code division multiple access technology is adopted to improve the communication rate.By simulating AUV cooperative navigation,the measured data of chaotic spread spectrum sequence and M sequence are analyzed,and the performance of chaotic underwater acoustic signal in cooperative navigation system is verified.