Navigation and Guidance Control System of AUV with Trajectory Estimation of Linear Modelling

摘要

This paper put forwards a study on the development of navigation and guidance systems for AUV. The restriction in AUV model and estimation on the degree of freedom are recognized as the common problem in AUV's navigation and guidance systems. In this respect a linear model, derived from the linearization using the Jacobian matrix, will be utilized. The so obtained linear model is then estimated by the Ensemble Kalman Filter (EnKF). The implementation of EnKF algorithm on the linear model is carried out by establishing two simulations, namely by generating 300 and 400 ensembles, respectively. The simulations exhibit that the generation of 400 ensembles will give more accurate results in comparison to the generation of 300 ensembles. Furthermore, the best simulation yields the tracking accuracy between the real and simulated trajectories, in translational modes, is in the order of 99.88%, and in rotational modes is in the order of 99.99%.