Technique and Implementation of Underwater Vehicle Station Keeping Based on Monocular Vision

According to the application background of the 7000m manned underwater vehicle and with monocular CCD cameras as sensors,two visual station keeping methods for underwater vehicle are proposed,i.e.the model-based monocular vision positioning for the target when model is known,and the feature-based visual servoing for the target when model is unknown.Based on the experiment platform of underwater vehicle control system made by ourselves,an underwater demonstration experiment system is developed with forward-looking cameras and man-made targets.Underwater demonstration experiments with the two station keeping methods are made in an indoor experimental pool.It is demonstrated that the vehicle can achieve station keeping under the closed loop control of the two proposed methods in the presence of man-made abrupt disturbances and current disturbances.