Researches On The Navigational Positioning And Information Fusion Technology Based On The Underwater Vehicle

The foreground of the underwater vehicle in civil use and military use is very wide.The navigational positioning technology is the critical technology of the underwatervehicle. The paper is going on the concept definition and technology exploration for thenavigation positioning of the underwater vehicle sailing in formation, which is composedof the single navigation positioning and the formation navigation positioning. The paperis investigated as follows:1) Due to the underwater vehicle researched in the paper is very small, consideringthe miniaturization and high precision of the operational requirements for thenavigational positioning system, based on the different research methods for the signaland the formation, the paper exploringly research the navigational positioning systemholistic design project and software architecture. When the underwater vehicles sail information, it adopts the signal navigation positioning design project for the mainunderwater vehicle, brings forward the operational principle. It applies the underwateracoustic orientation and communication module to achieve the absolute positioninginformation for the dependent underwater vehicles. Hence the holistic navigationalpositioning is accomplished.2) For acquiring the high accuracy and reliability navigational information, thepaper puts forward the utility mathematical model of the underwater vehicle. It providesthe Kalman Filter algorithm and computer simulation, which have good effect on thesoftware mobility and restraining divergence for the underwater vehicle. Hence it ensuresthe navigational precision.3) The Federal Kalman Filter, the wavelet analysis and the neural network areapplied for the signal navigational positioning system. GPS/DR algorithm is investigatedin the paper. It applies the wavelet technology to monitor the outliers and eliminate thesystem noise. It applies the neural network to deal with the navigational datas. It ensuresthe high navigational precision.4) The beamforming is an important measure of the orientation estimation in theunderwater sound positioning. The Generalized Correlation Beamformer (GCBF) isstudied and the algorithms of FIM(Fourier Integral Method) and WFIM(WeightedFourier Integral Method) are given. In most circumstances, the performance of these two algorithms is better than Delay-Sum Beamformer(DSBF). The MVDR(MinimumVariance Distortionless Response) adaptive beamformers are investigated in element andbeam domain. The research results show that the beam-domain MVDR algorithm notonly increases the resolution, but also saves computer when using it to aim orientationestimation.5) According to the design project of the signal navigation positioning, It developsa navigational positioning system, which carries through the tests in the different waterarea. The system navigation precision is analysed through the test datas, which comparethe sample DR arithmetic, the kalman filter arithmetic and the kalman filter linking withdata fusion arithmetic. It gives the appraisement on the arithmetic structure, the applyingenvironment, the arithmetic stability and the arithmetic reliability for the arithmeticapplied in the engineering.The paper is going on the theory probing and engineering test for the underwatervehicle sailing in formation, which proves the feasibility of the signal navigationalpositioning project. The formation navigation with the underwater sound positioning stillneeds a great of tests. The product is in waiting.