Research On Target Tracking Control Method Of Micro Autonomous Underwater Vehicle

As the improvement of independent ability and intelligence level of autonomousunderwater vehicle (AUV), underwater target tracking has become one of the keytechnologies of AUV underwater autonomous task. For marine land monitoring, coastalwarning or coastal defense, the tracking and repair of submarine pipelines, AUV targettracking technology has the important research value.The main work of this paper aims to research the moving target tracking of AUV. Theresearch work includes the following aspects:First, it analyses the motion control system of AUV. Dynamics model and kinematicsmodel of AUV are established in the horizontal plane For the object of tracking,non-motorized and maneuvering motion models of the targets are established respectively,including the uniform motion model, uniform accelerated motion model and the Singer model.The AUV target tracking controller is designed based on the classical PID control theory.Secondly, it research the method of target motion estimation based on the Kalmanfiltering theory. Using Kalman filter and adaptive Kalman filter, the motion estimation isaccomplished for non-motorized and maneuvering target.Thirdly, with the principle of target tracking and control to minimize the energyconsumption of AUV propulsion system, target tracking control strategy based on regionaldivision is designed. According to the detection range of AUV sensor, on the priority ofensuring the safety of AUV movement, the motion region of AUV and target is divided intodifferent sections, through the target tracking and switching control to realize the track ofmoving target. If the target moves beyond the regional borders, then start the AUV andimplement the target tracking control to reduce energy consumption of AUV propulsion.Finally, the simulation experiment is accomplished according to the target trackingcontrol strategy and method. Without the consideration of motion model of AUV, severalcases of the process to AUV target tracking are verified by simulation experiment, includingstart tracking, target monitoring, ensure the safety distance Considering horizontal motionmodel of AUV, AUV moving target tracking control simulation experiment is accomplishedbased on the result of target motion estimation, which validates that target tracking controlmethod is effective and feasible.With the deepening of research and the progress of science and technology, underwatertarget tracking control technology will develop towards the direction of higher and farther.