Research on AUV terminal electromagnetic positioning system based on two coils

AUV terminal docking is an important part of docking technology. Aiming at the problem that the optical and visual guidance distance decreases with the increase of water turbidity, an electromagnetic positioning system based on two coils was designed. The magnetic transmitter and receiver subsystems are built, and the algorithm of magnetic calculation and localization is designed. The positioning experiments have been carried out on land and underwater. The maximum positioning error of the on-land test is about lm at (10,0), and the error of the underwater test is 0.5 m within 4.5 m. The results prove the feasibility of the system.