The AUV Combined Navigation And Positioning Using Ranges From One-transponder Of Route

Underwater vehicle positioning and navigation plays a very key part in the oceanexploitation. It has become an urgent problem to be solved that how to realize remote andlong-time underwater positioning within the scope of high precisions. This is The AUVCombined Positioning and Navigation Using Ranges from one-Transponder of Route. It canimprove in the positioning accuracy and expand zone of action, and the cost of the wholesystem can be cut short. It is a kind of ideal positioning method.Firstly, there are some introductions of the existing common methods of underwaterpositioning. And, according to working principle, economic cost, positioning accuracy,operation range, application field, auxiliary equipment, it is the need to choose thecombination scheme of Single–UTP and Bearing-only USBL.Secondly, the coordinate system used in navigation and positioning are described in a thepaper, and the transformation relationship between the coordinate system is established. Thispaper analyzes the working principle and disadvantage of the Single–UTP and Bearing-onlyUSBL. we establish mathematical models of range-bearing integrated navigation andpositioning system on this basis.Then, in order to improve the positioning precision even more, we should do thefollowing works: Firstly, the correction methods of the sound path bending are formed, and amore accurate round-trip time and attitude information can be obtained. Secondly, bothconcentration and conformity of data can be bettered by means of data pre-processingtechnology. Thirdly, the application object, estimation accuracy and computation complexityof some data fusion methods such as KF, EKF and UKF is contrasted and analyzed, andUnscented Kalman Filter is used to complete and realize the data fusion of navigation andpositioning system.Finally, operating modes of range and bearing based on Single-UTP are proposed. Whenthe range-only positioning method of the seabed one-transponder can be used, it need toconmunicate with one-transponder at multiple points so as to obtain horizontal range bywhich the relative positions of vehicle and transponder are solved. The analysis, which isproved by simulations, offers the correctness of the principle for range-only S-UTP, and findthe positioning accuracy depend on the smaller error of vehicle’s Speed and heading. In mostcases, the positioning accuracy is not optimistic. When the bearing-only Single-UTP methodis used, it also need to achieve the information of the bearing of the transponder at multiple points to rekon the relative positions of vehicle and transponder. According to the results ofsimulation analysis, the positioning accuracy of the method is not only related to theprecision of azimuth estimation, but also related to the route of underwater vehicle. If thesystem want to get the better accuracy, it must have a good track design. USBL-SUTP basedon the disadvantage of the methods mentioned above is studied by which underwater vehiclecan be navigated with only once respond. With the same multi-point responds, this methodcan get more redundant information to improve the positioning accuracy and expand zone ofaction as well.