Objective To address the problem of ultra-short baseline (USBL) relative navigation and positioning during autonomous underwater vehicles (AUVs) dynamic docking in shallow water, a compensated unscented particle filter (CUPF) based on disturbance observer is proposed.
Methods CUPF compensates missing values in USBL data based on dead reckoning model, estimates the unknown disturbances in dynamic docking of AUV with observer technology, filters outliers in USBL data combined with unscented particle filter, and realizes estimation of AUV state.
Results The lake trial data shows that the proposed CUPF algorithm can effectively remove outliers and fill in missing values for positioning of USBL, with the estimation error of speed less than 15% and the computation time is reduced by 57% with traditional method.
Conclusions The CUPF algorithm can improve the positioning accuracy of USBL while smoothing the motion trajectory and estimating state of AUV by fully utilize relative measurement information for AUV docking.
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