Research On The Control System And Navigation Positioning Method Of Observational Underwater Vehicle

In recent years,the United States,Canada,the European Union and other countries have begun to develop and implement the ocean three-dimensional observation system design to reduce the degree of marine disasters,protect the national marine homeland security,exploit and utilize the marine resources.As the main tool of marine space station exploration,development and scientific research,underwater vehicle plays an indispensable role,which is suitable for long-term exploration in various environments with strong maneuverability,good endurance,wide range and high safety.In the process of the task,the navigation and positioning method of underwater vehicle plays an important role.Good navigation and positioning method can effectively reduce the accumulation of errors in the navigation process and improve the accuracy of navigation and positioning data.Thus,good navigation and positioning method can improve the working performance of underwater vehicles.This paper designs a small underwater vehicle control system for underwater structure detection and submarine topography observation,including Arduino platform and LABVIEW,which realizes motion control,data acquisition,video shooting,track map and alarm lights.At the same time,this paper also studies the autonomous navigation method based on random finite set for LabVIEW track map,and proposes a new method based on random finite set SLAM model.The content of this paper includes the following aspects.Firstly,the control system of the upper computer of underwater vehicle is designed and developed.In this paper,the software design based on LabVIEW monitoring system and Arduino platform is adopted,which apply the framework of multi-task and multi-cycle LabVIEW that has a flexible and practical interface system and adopt Arduino IDE.In this way,the reliable underwater data,the real-time image,control command,fault alarm,underwater camera and so on are completed.Secondly,aiming at the problem of low accuracy of underwater vehicle navigation and positioning caused by ocean background noise,underwater acoustic sensor measurement noise and low signal-to-noise ratio,simultaneous localization and mapping(SLAM)based on random finite set is adopt in this paper,which is used to solve the complex data association problem effectively.Based on this,a new PHD-SLAM adopt attenuating memory filtering and square root unscented transformation is proposed.The precision of PHD-SLAM of underwater vehicle is improved.Finally,in this paper,the underwater vehicle is assembled.Through many land debugging,pool experiment and lake experiment,we complete fixed course,fixed depth,various motions such as advance and retreat,yawing,and verify the functions of motion control,data acquisition and video capture of the underwater vehicle.The experimental results show that the underwater vehicle can complete the tasks of underwater structure detection and submarine topography observation,and has the advantages of stable performance and flexible motion.