Submarine Geophysical Navigation of Autonomous Underwater Vehicle Using Extended Kalman Filter
Zetian Yu, Qiang Zhang, Guobang Chen, Chuanzhi Huang, J.L. Lan · 2023
Aiming at the problem of continuous precise positioning of autonomous underwater vehicle (AUV) in submarine operation, this paper studies the underwater navigation method of AUV in marine geophysics. Using the spatial and temporal distribution characteristics of the seafloor topography and the underwater magnetic field as navigation beacons, an optimized positioning algorithm framework is constructed based on the extended Kalman filter to couple the topographic elevation information and magnetic field strength information with the seafloor topography and the marine geomagnetic map to determine the relative position of the AUV with respect to the above-mentioned marine geophysical information chart and to correct the accumulated positioning error of the dead reckoning. In the case of inaccessibility of radio signals and range limitation of acoustic positioning, the AUV gets rid of the dependence on external artificial navigation beacons and absolute navigation methods such as satellite navigation, ultra-short baseline underwater acoustic positioning system, long baseline underwater acoustic positioning system and the like, and the AUV navigation and positioning coordinates are acquired continuously, autonomously and accurately. The AUV can accurately navigate to the scheduled operating area without surfacing or using external beacons, which is of great significance for AUV to continuously perform diving operations underwater.