Underwater Position Calibration And Control For UUV Long-distance Navigation Based On UTP

The high-precision navigation of Underwater Unmanned Vehicle (UUV) is a significantguarantee for long-distance sailing and mission. The error of Navigation System for UUV willaccumulate with time evolution, which leads to navigation accuracy lower. To this issue, GPSor Dipper is usually applied to correcte the accumulated errors at present, but they are not beappropriate to UUV underwater concealment missions. In this dissertation, an UnderwaterTransponder Positioning (UTP) auxiliary UUV navigation is proposed to solve the aboveproblem. The accumulate errors are corrected with UTP to improve navigation accuracy.This object is towards the demands of UUV large-scale investigating in deep sea withhigh-accuracy positioning and navigation from National863Item. The main contents to studythe auxiliary navigation for UUV using UTP are developed as follows:Firstly, the frame of UTP auxiliary UUV navigation system is designed, and the principleand process for signal UTP auxiliary UUV navigation are clarified. The whole system iscomposed of Ultra Short Baseline, Strapdown Inertial Navigation System, Doppler Velocitylog and seabed transponders, as the foundation for realizing high-precision navigation duringUUV long-distance sailing. The transponders with the same navigation principle operateindependently to calibrate UUV’s underwater position successively.Secondly, the influence elements of navigation accuracy is analyzed and concluded, andthe Federal Kalman filter for combined navigation system is designed. To improve thenavigation accuracy and the robustness, the local filters designed respectively according todifferent influence elements for each component are combined as Federal Kalman filter, andthe simulation results verify its effectiveness.Then, the observable conditions for UTP auxiliary UUV navigation system is concludebased on line time-varying system partial observable theory, and observable navigation path ispresent. Owing to the position information dimension will be reduced as the paths through onthe equivalent acoustics position, on the vertical plane or horizon plane of UTP, it is inducedthat the navigation system aided using UTP is not observable. Based on the analysis ofobservability and the observable navigation paths above, the UTP navigation algorithm isproposed. The simulation is run to validate its feasibility.Lastly, combined with UUV long-distance voyage mission, UUV control strategy ispresent as UTP aides UUV navigation. The navigation method proposed is verified bysimulation using BSA-UUV trial data. And the simulation results show the availability of control algorithm, the navigation accumulated error can be calibrated validly using UTP aidednavigation. The feasible navigation range is extended obviously.In this dissertation, the underwater position calibration and control algorithm based onUTP auxiliary UUV long-distance navigation is studied. It demonstrates that cumulative errorof combined navigation system can be calibrated effectively by UTP aided UUV navigation,and the navigation accuracy can be improved obviously. UTP can operate continuouslyseveral years once deployed underwater. Therefore, it is possible to deploy multiple UTPs toconsist an UTP array along with the path or in work marine environment. And the navigationrange can be extended furthest to improve operation ability. With consideration above all, theconclusion in this dissertation not only makes an academic significance, but also withengineering reference value.