The Research Of AUV Underwater Docking Positioning

Docking position, as a key technology of AUV, has been playing an important role in AUV researching deeply. This article show a way that use different sensors include ultra-short baseline, looking forward sonar and low-light CCD camera to combined positioning for docking and also design a new docking device as well as lighting arrangement based on REMUS docking system of America.In the first part of this article, the use of acoustic positioning in the AUV docking was researched and the positioning error of USBL was analyzed through the data of USBL positioning experiment in Dalian. Fatherly, some measures to reduce errors were suggested.In the second part of this article, visual location algorithm was researched through the software of MATLAB. According to different characters between sonar image and camera imagine, the article respectively introduce their location algorithm and the technology of image processing to find the target of docking device that include edge extraction, threshold segmentation and so on.Finally, using the simulation of MATLAB, the article find the position of docking device that calculated by the location algorithm through the processing of experiment image was conform to the real position between AUV and docking device and which prove that the research of docking positioning in this article is feasibility.