Research On The Underwater Glider’s Navigation

with the development of science and technology,the exploiting of Marine resources are more and more important.There are a variety of Marine equipment in the world,such as ships,submarines and underwater detector etc.The role of the underwater glider in the field of exploring the unknown ocean is very important.Underwater glider is a kind of low cost machine,which is high autonomy,long distance,low cost,small volume,long working hours etc.It is used to detect ocean.But its latitude and longitude in underwater is unknown and easily influenced by ocean currents,makes the water point and target point having a deviation.Therefore,this article’s main goal is to design a kind of project,which is applied to navigate and position underwater movement,and to correct underwater glider’s route.In order to reduce the deviation of water point caused by the current point and the target point.Through the analysis of the motions,environment and positioning accuracy requirements,choose the main part of the underwater glider navigation and positioning as strapdown inertial navigation.But the error will increase with time for the accumulation of unceasingly,can’t meet the accuracy requirement after long time working.Through the further research on the theory of the navigation,we use the GPS and Attitude and Heading Reference System(AHRS)to assist the strapdown inertial navigation.Using GPS to correct and provide the underwater glider’s position information,make up for the strapdown inertial navigation to educed the result error.Using AHRS to provide the attitude Angle and correct the attitude Angle by low accuracy of inertial measurement unit determine,so as to improve the positioning accuracy;The strapdown inertial navigation can be used when the GPS signal can not be used.Finally using the calculated underwater latitude and longitude information to modify the underwater glider route.After corresponding simulation,experiments and deduction,we can get the precision of the navigation and position,and calculated the condition when should correct the route to reduce the deviation between the water point and the target point.