Research On Micro-AUV Navigation System Based On Multi-sensor Fusion

Autonomous Underwater Vehicle(AUV)is an Underwater exploration equipment that integrates advanced technologies such as navigation,control,communication,sensing,materials and fluid mechanics.It can replace human to complete Underwater exploration tasks.It is an important direction for the future development of Marine equipment and has a wide range of applications in social life.Micro-auv has the advantages of small size,light weight,easy to carry,strong mobility,relatively low price and so on,and has been widely used in underwater detection.One of the key factors to measure the practicability and maturity of an AUV is to have a high performance navigation system.Both civil and military need a high-precision AUV navigation system.On micro small AUV small volume,light quality,susceptible to interference,at the same time their own navigation sensor precision is low,the disadvantage of poor robustness,based on the laboratory research and development of micro small AUV "full" as a platform,design the strapdown inertial navigation system as the core,with doppler velocimeter,the magnetic compass,depth gauge auxiliary micro small AUV integrated navigation system.The main research contents of this paper are:(1)error analysis and mathematical model establishment of each navigation sensor.To pave the way for the establishment of the combined navigation algorithm,this paper introduces the simple principle and error analysis of the strapdown inertial navigation system,DVL,magnetic compass and depth meter,establishes error models of each navigation sensor,and analyzes the influence of external interference on the sensor.(2)filter design of integrated navigation system.The micro-auv "cloud sail" is designed for modularization,which requires the navigation system to be expandable.At the same time,considering the low accuracy of the navigation sensor and the vulnerability to interference,the overall structure of the navigation system algorithm selects the federated filter with strong expandability and good fault tolerance for data processing.Based on the analysis of the advantages and disadvantages of four kinds of federal Filter,on the basis of establishing the mathematical model of each Filter,pair and Filter algorithm,including the Extended Kalman Filtering(Extended Kalman Filter and EKF)and the Adaptive Extended Kalman Filtering(Adaptive Extended Kalman Filtering,AEKF)and no trace of Kalman Filtering(Unscented Kalman Filter,UKF)three algorithms,the simulation comparison,Finally,the adaptive extension-federated kalman filtering algorithm is adopted for comprehensive consideration,and the overall system simulation is carried out to simulate the performance of the micro-auv filtering algorithm in the ideal state and in the presence of interference.(3)establishment of "yunfan" AUV navigation experimental platform.In order to verify the simulation results,the software and hardware of "yunfan" AUV navigation system are designed."Yunfan" AUV adopts the modular architecture,and the software operating system is C/ os-ii.This paper designs the driving mode and hardware circuit of each navigation module,and completes the lower computer program and upper computer module of the navigation part.(4)experimental verification of integrated navigation system.The initial calibration and data processing of the micro-auv navigation sensor were carried out,and the performance of the micro-auv integrated navigation system was verified by the lake test.