Development Of AUV Control System And Research On Navigation And Positioning Method

With the continuous development of China's marine industry,there is a higher requirement for the safety of marine territory and the exploration of marine resources.Because autonomous underwater vehicle(AUV)has the advantages of strong environmental adaptability,multiple control methods,and high security concealment,domestic and foreign scientific research institutions and business units are competing to develop various AUVs with different structural functions that can be put into production and application.The navigation and positioning capability is the basis for AUV to complete tasks.To achieve complete autonomous navigation in an unknown environment,it is necessary to rely on AUV simultaneous localization and mapping(SLAM)method.This article participated in the development of an autonomous underwater robot prototype equipped with multiple sensors,and conducted a new method of autonomous navigation unscented fast SLAM(Unscented FastSLAM).The paper firstly analyzed the domestic and foreign research status and development trend of AUV and autonomous navigation methods.According to the technical requirements of the project,participated in the the overall scheme and structural design of AUV system,and elaborated the design of navigation positioning key components.At the same time,the overall composition of the AUV control system was designed,and the hardware and software of the surface control system were mainly designed.Among them,the hardware part includes the hardware components of the surface control box and its implementation functions;the surface monitoring software is based on the MOOS platform and has human-computer interaction and control functions.It can realize the switching of five control modes,the display of equipment status and the setting of the course trajectory.Then the paper focused on the new method of autonomous navigation Unscented FastSLAM.An Unscented FastSLAM algorithm based on adaptive fading unscented particle filter was proposed.By integrating unscented particle filter and fading filter,an adaptive proposed distribution function can be obtained.At the same time,the adaptive partial system resampling method was used to resample,and then the improved Unscented FastSLAM algorithm was obtained.The open simulation platform was used to verify that the algorithm has less computational complexity and can be accurately estimated with a small number of particles,thus alleviated particle degradation and leanness,enhanced the self-adaptivity of SLAM system,and reduced the complexity of autonomous navigation.Finally,an autonomous navigation lake experiment was conducted on the developed AUV.Through the mission planning module of the surface monitoring system in the autonomous navigation mode,the AUV surface track,underwater track autonomous navigation and underwater hexagonal autonomous cruise experiments were completed.Experimental results verify the AUV control system and autonomous navigation meet the design requirements.