Design Of ROV Path Planning Method Based On Single Beacon

With the rapid development of technology of ROV and the continuous development of ocean resources,ROV applications continue to expand.ROV with miniaturization,convenience and low power consumption are more and more popular.The positioning and navigation problem after the ROV enter the water becomes the key to whether the ROV can successfully complete the mission.The current mainstream positioning and navigation rely on USBL.When they have better positioning accuracy,there are also some problems such as high cost and troublesome deployment.In the miniaturization experiments,when the position information of the ROV does not need to be too accurate,the single beacon ranging positioning technology can be selected.With acceptable positioning accuracy,single-beacon positioning technology has the advantages of convenient operation,economical benefits,high stability,and low interference.This article is based on the single beacon ranging positioning and navigation technology,taking the positioning and navigation requirements of small ROV as the background,and planning the ROV so that when the ROV navigates along the planned route,a more accurate location information can be obtained only by relying on a single beacon.This method can effectively reduce the expenses of small ROV and the complexity of advance preparation.Firstly,according to the actual requirements of single beacon ranging technology,the work of beacon placement and synchronization is arranged.According to the single beacon functional requirements and technical indicators to determine the beacon circuit components selection.Signal generation module,power amplification module and power supply module are designed.Then,the motion model of ROV in water with time delay as the observation is established,and the error sources in the motion process are analyzed briefly.The horizontal position accuracy factor is selected as the standard to measure the positioning accuracy.Observability analysis of motion process.According to the motion process analysis of extended Kalman filter,unscented Kalman filter,particle filter three kinds of nonlinear filtering algorithm in the position of the characteristics of the solution,and ultimately determine the high precision,medium amount of calculation of unscented Kalman filter as a tracking algorithm,so that ROV from its position close to the optimal path,can use this algorithm to calculate the position information.Under the condition of observability,the path with the highest positioning accuracy of ROV is discussed by designing path points,and the path planning scheme is proposed according to the simulation results.The ROV has the best positioning accuracy when sailing along this path.Finally,the feasibility of this scheme is verified by simulation.