Research On Navigation Method Of Autonomous Underwater Vehicle Based On Multi-Sensor Fusion

With the rapid development of world economy and military,marine strategic plan gradually become the core of national development.The marine area occupied more than half part of the surface of the earth,the minerals,natural gas and other resources are rich in the sea,and its hydrological characteristics and landform,depths of unique species,attracted a large number of countries to explore.However,these are a huge challenge faced,that people must overcome the pressure of thousands of meters deep underwater.Due to the unique topography,complex environment makes these underwater operations difficult.Underwater robot has become an important tool for making.that come true now.With the broad application of underwater robot,as the complex working environment and unpredictability in the water,that also put forward higher requirements for the robot.And underwater navigation technology is the key technology for exploring underwater,has also become a bottleneck to restricting the development of underwater robot.From the view of traditional inertial navigation,acoustic navigation,autonomous navigation,I make some analysis and research,meanwhile found model and simulation and then improving fusion algorithm by multi sensor integrated navigation information.Inertial navigation is the Main System,and DVL,GPS,Depth Gauge,Sound velocity profile,Electronic compass is the Assist System in this algorithm.The robot is under autonomous navigation until received framing signal from assist system.In order to prevent the divergence of autonomous navigation along with time,amended by data from assist system.Make Velocity of DVL,depth of Depth Gauge,angle of Electronic compass and positon of USBL as observed quantity of Kalman filter,and to filter with autonomous navigation respectively.Do like that,for one thing it can restrain divergence of autonomous navigation along with time,for anther it can avoid excessive measuring error because of big noise arise in the subsystem abruptly.Then by the sea trial,the lake trial to verify the algorithm in this thesis,and the better results were achieved,the results show that it has practical value on engineering application in some sense.The sensor used in this thesis are INS,USBL,DVL,GPS,Depth Gauge,Sound velocity profile and Electronic compass.I put forward the improved algorithm of parameter identification,time synchronization and Kalman filter in the process of sensor information fusion.