BDS application of offshore UUV path tracking

In order to solve the problem of various deviations when unmanned underwater vehicle (UUV) navigates along a given path. A system combining STM32 and UM220-IV N module based on Beidou Navigation Satelite System (BDS) is designed and applied to the specific path tracking of unmanned underwater vehicle. The position coordinates, velocity and direction data of UUV collected by the BDS positioning module are sent to the upper computer through the single-chip microcomputer module. The upper computer compares the data with the given tracking path data, calculates the path deviation, and controls the UUV driving module to change the UUV motion direction, so as to achieve accurate tracking of the given path. At the same time, through the wireless communication module, the water quality information collected by the UUV path track and information acquisition module can be displayed on the upper computer interface of the shore based monitoring system in real time. The underwater experiments show that the accuracy of UUV path tracking is significantly improved, which provides a reference method for correcting the path tracking error of UUV.