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

  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.