Research on dynamic positioning of Model-Converted ROV anti-waves based on micro inertial navigation sensors

摘要

In terms of the uncertainties induced by wave disturbances when an underwater vehicle is operated by the surface of water, a dynamic model based on CFD is built to analyze 6DOF positioning combining with the novelty Model-Converted Remotely Operated Vehicle (MC-ROV) of ocean engineering. A strategy of force and moment allocations is designed according to positioning error, then compensating it with an algorithm known as Non-singular Terminal Sliding Model (NTSM) to low the impact brought by waves likewise. And based on Micro-Electro-Mechanical Systems (MEMS) devices, an integrated micro inertial navigation system is designed. The Unscented Kalman Filter (UKF) is used to improve the navigation accuracy and estimate the real-time location information of MC-ROV. Simulation results show that the proposed algorithm can make the underwater vehicle reach a pre-given position rapidly and effectively, moreover it can adjust the strategy of force and moment promptly when encounters with perturbations so that reduces the negative effects.