19th Asia-Pacific Vibration Conference (APVC2021)

424 / 2022-08-01 15:32:42

Testing data analysis of the synthetic baseline positioning system of a multi-jointed autonomous vehicle

Multi-jointed autonomous underwater vehicle,Synthetic baseline positioning system,Sea trial,empirical mode decomposition(EMD)

 

A multi-jointed autonomous underwater vehicle (AUV) has higher manoeuvrability and a smaller turning radius in comparison with an AUV with a rigid body. It is able to implement spatially denser sample collection in three-dimensional space in the deep ocean for scientific expeditions. Conventional positioning approaches, such as ultra-short-baseline and long baseline, cannot be employed efficiently to obtain the coordinates of a multi-jointed AUV, since they only work with constant baselines. As such, the synthetic baseline positioning system is proposed to determine the AUV position accurately. In the present work, we report a sea trial in the South Sea of China to validate the positioning algorithm. We demonstrate the relationship between the location of the MAUV and the positioning accuracy of the synthetic baseline positioning system. A trajectory when the AUV is diving is analyzed using empirical mode decomposition to obtain the first four IMFs to extract the beacon signal from hydrophone signals more effectively. Current work presents a systematic scheme for experimental study of the synthetic baseline positioning system.