A novel underwater localization algorithm fusing AHRS with altimeters

This paper presents a novel underwater localization algorithm fusing the Attitude and Heading Reference System (AHRS) with underwater altimeters to localize the underwater welding vehicles (UWV) in the spent fuel pool of the nuclear power station. The SFP is divided into multi regions according to the attitude of the UWV and the coordinate of the UWV is calculated by corresponding method in each region. Furthermore, the UWV localization of three different motion trails are simulated to validate the accuracy of the algorithm, and the results show the satisfactory precision. The localization algorithm proposed in this paper provides certain theoretical foundation for localization in confined water area in future.