Abstract
To solve the unavailability of a traditional strapdown inertial navigation system (SINS) for unmanned underwater vehicles (UUVs) in the polar region, a polar grid navigation algorithm for UUVs is proposed in this paper. Precise navigation is the basis for UUVs to complete missions. The rapid convergence of Earth meridians and the serious polar environment make it difficult to establish the true heading of the UUV at a particular instant. Traditional SINS and traditional representation of position are not suitable in the polar region. Due to the restrictions of the complex underwater conditions in the polar region, a SINS based on the grid frame with the assistance of the OCTANS and the Doppler velocity log (DVL) is chosen for a UUV navigating in the polar region. Data fusion of the integrated navigation system is realized by a modified fuzzy adaptive Kalman filter (MFAKF). By neglecting the negative terms, and using T-S fuzzy logic in the adaptive regulation of the noise covariance, the proposed filter algorithm can improve navigation accuracy. Simulation and experimental results demonstrate that the polar grid navigation algorithm can effectively navigate a UUV sailing in the polar region.
Highlights
Unmanned underwater vehicles (UUVs) have been widely used in underwater resource exploration, military reconnaissance, marine surveying, and marine mapping [1,2]
Simulationsand andexperiments experimentsare areconducted conductednot notonly onlytotoverify verifythe theeffectiveness effectivenessofofthe thepolar polargrid grid navigation for the UUV, and to verify the accuracy improvement of compared with navigation for the UUV, and to verify the accuracy improvement of modified fuzzy adaptive Kalman filter (MFAKF) compared with adaptive Kalman filter (AKF)
The results indicate that MFAKF is superior to AKF in the estimation of navigation errors
Summary
Unmanned underwater vehicles (UUVs) have been widely used in underwater resource exploration, military reconnaissance, marine surveying, and marine mapping [1,2]. With the rapid development of underwater navigation technology, humans can explore polar underwater resources through UUVs. Precise navigation is the premise and basis for UUV sailing. A large number of navigation algorithms have been proposed for UUVs. According to the principle, UUV navigation can be divided into acoustic navigation, visual navigation, inertial navigation, radio navigation, satellite navigation, and so on. Inertial navigation is the most widely used because of its high autonomy. Filtering methods are another important factor that affects navigation accuracy. Cooperative navigation is an effective strategy for efficiently performing tasks while reducing costs. It is a significant approach for solving the navigation problem in middle-depth of underwater conditions [7]. Scholars have done a great deal of research for UUV navigating in the non-polar region and have made a large number of encouraging achievements
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