Development of navigation system for large-scale and high-speed underactuated AUV

Abstract

[Objectives] This paper details the development of a navigation system for a new model of large-scale and high-speed underactuated Autonomous Underwater Vehicle(AUV).[Methods] First, the hardware composition and software architecture of AUV navigation system are introduced in detail,and the integrated navigation system of the AUV is constructed on the basis of the VxWorks real-time embedded operating system. Considering the non-linear characteristics and fault-tolerance requirements of high-speed AUV navigation systems,Unscented Kalman Filter (UKF) technology is used in the federated filters,and a federated filter based on UKF is designed.[Results] A two-dimensional plane model of the navigation system is simulated,showing that the federal unscented Kalman filter can obtain higher accuracy and better robustness than the traditional Kalman filter method. Finally,the real-time operation and reliability of the navigation system are verified via a semi-physical simulation debugging experiment,pool test,lake test and boat test.[Conclusions] The results show that this navigation system can meet the needs of the AUV in completing its missions.

Keywords

• Autonomous Underwater Vehicle(AUV)
• integrated navigation system
• Unscented Kalman Filter(UKF)
• federated kalman filter