| Underwater vehicle tracking and control system is used for underwater vehicles tracking and positioning, in the meanwhile it can be used for guiding the AUV to complete the assigned tasks. The system is based on USBL positioning and underwater acoustic communication technology. The entire system is composed of USBL array, transponder or beacon, high-precision ship attitude instrument, GPS receiver, positioning processor, control computer and interface extension device.This paper will focus on how to design and complete the underwater vehicle tracking and control system software, as well as the analysis of USBL array calibration.Underwater vehicle tracking and control system software is developed under the environment of LabWindows/CVI. The software is the control and display center of the system and running on the control computer. The major functions of the software include controlling the operation of each device, calculating the location of underwater vehicle, navigating underwater vehicle according to the planning route and showing the mother ship and underwater vehicle's track. Basically started with the software's functional requirements, this paper has showed many details about software's structural design and module realization.The positioning accuracy of underwater vehicle tracking and control system will be affected by the error of USBL array installation. The principles and methods of array calibration are introduced within this paper and some simulation models are built to estimate the impact of GPS positioning accuracy, attitude sensor accuracy, direction and distance measurement accuracy on array calibration.As lake trial results showed that the software had fulfilled the predefined requirements and the software worked well during the experiment. There is no difference between trial results with the actual situation.
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