Intelligent localization-system for subminiature underwater-vehicle
超小型水下机器人智能定位系统

A new intelligent localization system is developed for the subminiature-underwater-vehicle(SUV). In this system, we combine the short-base-line(SBL) localization sonar, the electronic compass, the X=Y angle-sensor and the depth sensor to make up the hardware architecture for the SUV localization system; and develop the component-based 3D virtual display software system for the land-based positioning computer. In the time-interval between SBL signalmeasurements, the Markovian-self-localization algorithm is employed to calculate the position of the SUV. This accelerates the localization process, and makes it in synchronization with the operation of the posture sensor. Experimental tests are designed and performed for this localization algorithm; results show the effectiveness in application.