Study on measurement and location system of underwater robot

The accurate location is a basic demand for autonomous robot. The location methods of mobile robot can be divided into 2 sorts, namely, absolute location and relative location. Data fusion methods are widely used in autonomous robotspsila measurement system in order to acquire more comprehensive and more exact information. Locaton information from several sensors of different location method can be fused with data fusion methods to improve location accuracy. Move-in-mud robot is a kind of autonomous robot, which can dig hole in the mud underwater The robot can be used in sunken wreck salvage to improve the efficiency of digging holes. Location system of the robot is studied in the paper. Location system of move-in-mud robot is designed. Kalman filter is applied to fuse the location data from different location methods. The data fusion method is simulated with Matlab, and the simulation results show the data fusion method can improve location accuracy.