AUV Docking Recovery Based on USBL Integrated Navigation Method

Because AUV needs high navigation accuracy in the recycling process, the USBL positioning navigation system is introduced, and the system is combined with the navigation information of the SINS and DVL systems to make full use of the length and complement each other to improve the navigation performance of the whole system. SINS navigation, SINS/DVL navigation and SINS/USBL/DVL combined navigation model are constructed respectively, and adaptive Kalman filter algorithm and adaptive UKF filter algorithm are designed. The simulation results show that the SINS positioning system based on USBL can effectively correct the speed and position error of AUV, and the adaptive UKF filtering algorithm has higher filtering accuracy and stability, which provides guarantee for AUV safety recovery.