In order to improve the navigation and positioning accuracy of underwater vehicle(UUV)in the complex environment of deep sea,a damping switching algorithm for normal vector position model based on mission profile is proposed.The damping switching strategy among external damping,internal damping and free damping is designed,and the maneuvering state of UUV and the velocity measurement accuracy of Doppler velocity log(DVL)are jointly used as the damping switching criterion.The fuzzy controller is introduced to enhance the robustness of the system.The algorithm improves the environmental adaptability of the system and reduces the overshoot caused by frequent damping switching.Three typical scenarios are designed based on the mission profile:large maneuver of UUV,violent fluctuation of ocean current and DVL shutdown when encountering anti-submarine sonar.Monte Carlo simulation verifies the effectiveness of the algorithm.The offline test based on the actual Arctic navigation data shows that compared with traditional switching methods of external damping and free damping,the root mean square error and maximum value of the positioning error of the proposed method are reduced by 15.09%and 9.33%,respectively.
normal vectordampingmission profileunderwater navigationlong endurance
维普
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