| More and more people have realized the importance to explore the secret in unknown environment, such as in deep sea, especially for the source of energy, biology and mine. The intelligent robotics is the best and widely utilized in this field. Among them, the Underwater Glider (UWG) is the superiority for its low cost with long voyage (thousands km), deep submergence (several km) and long navigation time (almost one year).In our work, we designed a novel Underwater Glide as an autonomous underwater vehicle (AUV), which can glide in ocean with little power by adjusting its buoyancy and attitude with internal actuator. The goal of this dissertation is to design the high precise and low cost underwater navigation system, which meets the requirements for scientific research. By enhancing the function of the position and navigation, when the UWG with sensors cruise in the ocean, the system will provide precise information of position for navigation.The UWG's position and navigation system discussed in this dissertation is based on the motion rules of the Glider. Taking no account of other forces, only subjected to the buoyancy and gravity, the gilder moves along the hackle track. This dissertation emphasizes on the study of low cost integrated navigation system to meet the requirements for position and navigation in the simplified environment.According to the navigation theory, an integrated navigation system is designed and adapt to the UWG The UWG obtains the required position by the GPS when it is on surface, and navigation calculation is carried out underwater. In such process, a new algorithm with Kalman Filter is proposed based on the UWG mathematical model and information fusion technology. Also the hardware and software are realized. With some sets of experiments have been implemented and the experiment results verify feasibility and effect of the algorithm and design of the system. It is indicated that this algorithm can effectively reduce the underwater position error. |
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