Research on High-Precision Positioning Technology for Deep-Sea Submersibles Based on Kalman Filtering

Abstract

As an important tool for deep-sea missions, the position precision of the submersible is directly related to the success of the mission and the safety of deep-sea operations. High-precision positioning technology is urgently needed for deep-sea exploration to cope with the challenges of complex ocean currents, uneven seawater density and complex topography. Based on the Kalman filter method and fitting algorithm, a prediction model of submersible position in deep sea is established considering whether the submersible can keep communication with the main ship or not. In order to make the prediction model more convenient to use and more accurate. In this paper, the 3D coordinate system used in the prediction model is given, and the force acting on the submersible is analyzed. In addition, this paper also gives the uncertainty factors that affect the prediction model, and proposes that special equipment can be added to the submersible to reduce the interference of uncertainty factors.