水下滑翔机的系统设计与导航方法研究.doc

水下滑翔机的系统设计与导航方法研究 Research of Underwater Glider System Design and Navigation Methods Abstract The underwater glider, invented in the 1990s, now has broad application prospects through 20 years of research. For instance, in the field of scientific research ,it can conduct a periodic observation of Marine lives and the current distribution , oceanographic surveys and seabed composition could also be made by underwater glider ; it’s also capable of detecting complex seabed mineral deposits (such as manganese nodules and flammable ice) when it comes to economic construction. What’s more, Civilian applications such as underwater archaeology and wreck salvage can also benefit from the advantages of underwater gliders. In Military field, it is widely used in tactical reconnaissance, submarine rescue, mine monitoring and so on. Therefore, the development of underwater glider system can effectively support the economic and military construction. An underwater glider system is presented. It includes mechanical structure, electronic systems and software system. Then on the basis of characteristics of the underwater glider navigation and positioning, the water - underwater navigation and positioning algorithm has been proposed, namely, GPS providing the location of the underwater glider, the underwater glider using the information collected by electronic compass and AHRS, combined with the data fusion theory, using the extended kalman filter to make dead reckoning of itself. The Matlab simulation processing has proved that the algorithm is really effective. At the same time, this paper discusses a kind of collaborative navigation algorithm, which can be used in collaborative multi-underwater glider navigation. This algorithm is based on acoustic radio communication, combined with an adaptive extended kalman filtering theory (A - EKF) to collaborative navigation. . Key words: Underwater Glider; Navigation and Positioning; Extended Kalman Filtering; Adaptive Extended Kalman Filte