Research On Polar AUV Under Ice Navigation Method Based On Range Measurements From A Single Beacon

The Arctic region contains huge economic value and important military strategic value.In view of the demand for large-scale and large-depth detection in the Arctic region,AUV has gradually developed into an important tool for polar scientific exploration.The complex ice environment in the polar region has great constraints on the normal operation and efficient recovery of AUV.Navigation and positioning technology is the key for AUV to complete reliable operation and recovery in highly dangerous polar waters.At present,the large-scale accurate navigation of polar AUV mainly depends on the long baseline hydroacoustic positioning system.The long baseline underwater acoustic positioning system has the characteristics of high positioning accuracy and large working range.However,the system has a long working cycle and low positioning data feedback rate,which cannot meet the real-time requirements of position feedback for reliable recovery guidance of polar AUV.In contrast,the underwater single beacon positioning method has great application prospect in the recovery guidance of polar AUV due to its advantages of high real-time performance and easy long-distance expansion.This paper introduces the long baseline underwater acoustic positioning scheme and system model,and explores the application of underwater single beacon positioning method in polar AUV ice navigation without changing the use of long baseline system.Firstly,this paper introduces the ice navigation scheme and working mode of polar AUV based on long-baseline underwater acoustic positioning,introduces the basic principle of long-baseline underwater acoustic positioning,and analyzes the influence of AUV motion on the long-baseline positioning accuracy,which lays the data foundation for the subsequent comparative study.Secondly,in view of the high real-time requirement of polar AUV navigation,based on the existing configuration of long-baseline underwater acoustic positioning system,the underwater single beacon positioning method is introduced into the ice navigation of polar AUV,and the underwater single beacon positioning system model is established.The navigation accuracy of long-baseline method and single beacon method is compared.In view of the low positioning accuracy of the direct application of underwater single beacon method,a polar AUV navigation method combining long-baseline positioning and single beacon positioning is proposed,and numerical verification is carried out.In addition,aiming at the problem that the movement speed of polar sea ice affects the navigation accuracy of AUV,an underwater single beacon positioning method considering sea ice movement is proposed.By estimating the movement speed of sea ice as a state variable,a single beacon positioning model considering sea ice movement is established,and the positioning performance is simulated and analyzed.The results show that the underwater single beacon method considering sea ice movement can effectively reduce the positioning error caused by polar sea ice movement.Finally,aiming at the problem of underwater single beacon positioning error caused by the unknown sound velocity in the polar region,the underwater navigation method of polar AUV based on the condition of unknown effective sound velocity of ice surface ranging buoy is studied.The effective sound velocity is estimated as a state variable,and the underwater single beacon positioning model considering the unknown sound velocity is established.The simulation results show that the underwater single beacon model considering the unknown effective sound velocity can further improve the positioning accuracy of polar AUV.