Autonomous Abutting Joint Flow and Control Algorithm for AUV Based on Ultra-short Baseline

Because of the energy carried by an autonomous underwater vehicle(AUV) is limited, the AUV has to au-tonomously navigate to underwater base station after finishing a task. This paper analyzes current situation of the underwater base station, especially analyzes the abutting joint principle of the subsumption station, and proposes an abutting joint flow based on ultra-short baseline. Firstly, according to different guidance information and the distance between AUV and abutting joint station, autonomous abutting joint process of an AUV is divided into four phases, i.e. long-range phase, middle-range phase, short-range phase and end-range phase. Secondly, characteristics, working flow and control algorithm of every autonomous abutting joint phase are analyzed in detail. Finally, these control algorithms are simulated via VS2008, and the AUV is tested in a lake. The results show that the proposed autonomous abutting joint flow and algorithm are feasible, and they may have a good prospect in engineering applications.