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Volume 25 Issue 新刊4
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2017  >  25(新刊4): 319-325
YAN Zhe-ping, SONG Jin-xue. UUV Navigation and Positioning Method Based on Model-Aided and Ocean Current Estimation[J]. Journal of Unmanned Undersea Systems, 2017, 25(新刊4): 319-325. doi: 10.11993/j.issn.2096-3920.2017.04.003
Citation: YAN Zhe-ping, SONG Jin-xue. UUV Navigation and Positioning Method Based on Model-Aided and Ocean Current Estimation[J]. Journal of Unmanned Undersea Systems, 2017, 25(新刊4): 319-325. doi: 10.11993/j.issn.2096-3920.2017.04.003
shu

UUV Navigation and Positioning Method Based on Model-Aided and Ocean Current Estimation

doi: 10.11993/j.issn.2096-3920.2017.04.003

  • College of Automation Harbin Engineering University, Harbin 150001, China

  • Received Date: 2017-05-05
  • Rev Recd Date: 2017-06-07
  • Publish Date: 2017-10-31
    Abstract
  • For deep sea navigation, unmanned undersea vehicle(UUV) cannot track to the bottom because of the limitation of Doppler velocity log(DVL) measured distance. Therefore, a navigation and positioning method based on the UUV dynamic model is proposed in this paper. The estimation method of ocean current based on the extended Kalman filter is employed to calculate the ocean current information in UUV operating area, then the information is added into the UUV system model to compensate the errors induced by the model due to its unable perception of external environment, hence the accuracy of navigation and positioning is improved. Simulation proves the feasibility and effectiveness of the proposed method. This method is able to be applied to future UUV deep sea exploration.

     

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