Positioning of Unmanned Underwater Vehicle Based on Autonomous Tracking Buoy

This paper presents a novel method for the dynamic positioning of an unmanned underwater vehicle (UUV) with unknown trajectories based on an autonomous tracking buoy (PUVV-ATB) that indirectly positions the UUV using ultra-short baseline measurements. The method employs a spatial location geometric model and divides the positioning process into four steps, including data preprocessing to detect geometric errors and apply mean filtering, direction capture, position tracking, and position synchronization. To achieve these steps, a new adaptive tracking control algorithm is proposed that does not require trajectory prediction and is applied to the last three steps. The algorithm is deployed to the buoy for tracking simulation and sea trial experiments, and the results are compared with those of a model predictive control algorithm. The autonomous tracking buoy based on the adaptive tracking control algorithm runs more stably and can better complete the precise tracking task for the UUV with a positioning error of less than 10 cm. This method breaks the premise of trajectory prediction based on traditional tracking control algorithms, providing a new direction for further research on UUV localization. Furthermore, the conclusion of this paper has important reference value for other research and application fields related to UUV.

Automated summary

This paper proposes a novel method for dynamically positioning an unmanned underwater vehicle (UUV) with unknown trajectories using an autonomous tracking buoy (PUVV-ATB) and ultra-short baseline measurements. The method utilizes a spatial location geometric model and divides the positioning process into four steps, including data preprocessing, direction capture, position tracking, and position synchronization. A new adaptive tracking control algorithm is introduced, which eliminates the need for trajectory prediction and is applied to the last three steps. The algorithm is implemented on the buoy for tracking simulation and sea trial experiments, demonstrating improved stability and precise tracking performance with a positioning error of less than 10 cm. This method breaks the assumption of trajectory prediction in traditional tracking control algorithms, providing a new direction for further research on UUV localization. Additionally, the conclusions of this paper have valuable reference for other UUV-related research and applications.