Research Of Sensor System Integration To The Autonomous Underwater Vehicle

The Autonomous Underwater Vehicle which carry its own energy, relying on itsown autonomy ability accomplish specific mission. It has a lot of advantagesincluding strong environmental adaptability, long range of activity, goodmaneuverability, easy to use and so on. In Marine survey and military field it has abroad application prospect.This paper presents the design of a deepwater3000meter rated autonomousunderwater vehicle which is able to carry survey sensor including the multi-beamsonar, side scan sonar, shallow profiler, CTD. The deepwater AUV can accuratelynavigate and localize for achieving planed task under water and can be safelyrecovered. The main contents and results of this paper are as follows:1. The overall research of deepwater AUV system is performed. Deep waterAUV sensor system integration are mainly studied. The design of the sensors overalllayout is implemented and the mounting structures are designed. Then sensorsintegration to deep-water AUV is realized. The task sensor nodes and sensorinformation fusion are designed.2. The layout of the acoustic communication sensor is optimized, usingcomputational fluid dynamics (CFD) to calculate the acoustic communication flownoise radiation intensity, the communication of high quality level of acousticcommunication sensor is ensured.3. The error of Multibeam system of deepwater AUV is studied. Qualitativeanalysis of the error source of the multibeam system is perfomed, deduces themulti-beam system depth total error model and the position total error model, thedepth error model simulation analysis is studied.4. Each sensor unit have been tested, verifying its function and reliability. Fieldexperiments have been carried out, verifying deepwater AUV system function andperformance. The collected data of CTD, sidescan sonar and multibeam sonar of thetrials have been processed and analyzed.