Research on acoustic positioning system in the process of AUV recovery.

As the speed of sound is interfered easily in the complex environment, the positioning information given by SBL sonar usually has noises. To solve this problem, this paper gives a positioning method based on Kalman filtering, which lays a good foundation for the application of AUV in the complex ocean environment in future, and has a good value on the practical application of engineering. In details, it disposes sensor data to get exact positioning information, and the validity is fully proved by tank experiment of AUV. The experiment results indicate that the positioning precision of SBL sonar is enhanced from 3.99% to 1.41%, at the same time, the designed demand of AUV is satisfied. [ABSTRACT FROM PUBLISHER]