Research on Data Fusion in the Process of AUV Retrieve

Autonomous underwater vehicle (AUV) forms part of a huge group of undersea systems and plays a significant role for both commercial and military applications. Many different kinds of AUVs have been designed in recent years around the world. Sensors should be installed to navigate autonomously and map characters of the ocean for AUV. In this paper, we address the problem of orientation in the process of positioning the motion ship and AUV during retrieve. Affecting by many factors from outside, sensors data are preprocessed and adopted with cubic spline interpolation method for time registration. Performance of the sensors is measured and used as the weight to achieve data fusion, and maximum likelihood estimate fusion method is established to figure out the problem of multi-sensor data fusion. The validity of this multi-sensor data fusion model and the practicability of the fusion data are tested based on experiment results.