High Accurate Positioning Technique for AUV

Abstract:-In this paper, a high accurate positioning technique is proposed for autonomous underwater vehicle(AUV). It needs not position correction from Global Position System (GPS) above the sea surface and short- or long-baseline acoustic positioning system(SBL or LBL) under the sea. Two long time experiments gave maximal and average deviations are less than 33.6m and 15.1m; respectively. Position deviations are verified by tracking datum of a long-baseline acoustic position system with post navigation processing datum. These deviations are much less than the tracking range of sonar. High accurate positioning results let vehicles have less supporting from launching vessel and give flexible and mobile operations. Key-Words:-Position estimation, Navigation and guidance, Autonomous underwater vehicle