Localization of Underwater Submarines Based on a Two-Dimensional Trajectory Tracking Model

With the increasing development and utilization of marine resources, the demand for precise localization of underwater vehicles in complex marine environments has also been growing. This study constructs a multi-level positioning model for an underactuated underwater vehicle. In the horizontal direction, considering the influence of ocean currents, a two-dimensional trajectory tracking model is developed to describe the kinematics and dynamics characteristics of the underactuated underwater vehicle. The model considers different combinations of initial velocities and ocean current directions to obtain the displacement of the underwater vehicle at different times. In the vertical direction, a gravity-buoyancy model is established, and environmental factors such as seawater damping coefficient, salinity, and temperature are considered, introducing uncertainties. The model is then subjected to robustness verification. Experimental results demonstrate that the proposed positioning model exhibits good robustness and accuracy, providing effective prediction and control for the localization of submarine.