某型AUV运载器的定位方法与误差分析

传统AUV依靠水下惯性导航设备自主定位的方法无法实时进行水下信息感知和系统控制。水声定位是AUV定位导航技术的一个研究领域，可用于水下运动目标定位与导航、水下静止目标勘测等。本文分析阐述三种经典AUV定位方法，进一步研究AUV快速定位解算原理，论证影响AUV运载器在深海工作时产生的定位误差来源并进行仿真试验分析，最终将研究成果应用在目前现有某型AUV运载器上，实现自身水下定位、导航与远程遥控。

Positioning Method and Error Analysis of a Type of AUV Carrier

The traditional AUV relies on the autonomous positioning method of underwater inertial navigation equipment to perform underwater information perception and system control in real time. Underwater acoustic positioning is a research area of AUV positioning and navigation technology, which can be used for positioning and navigation of underwater moving targets and underwater stationary target surveying. This article analyzes and elaborates three classic AUV positioning methods, further studies the AUV rapid positioning solution principle, demonstrates the sources of positioning errors that affect the AUV vehicle when working in the deep sea, and conducts simulation test analysis, and finally applies the research results to a certain type of existing On the AUV carrier, it realizes its own underwater positioning, navigation and remote control.