Integrated acoustic positioning and tracking control method for autonomous underwater vehicle

The invention discloses an integrated acoustic positioning and tracking control method for an autonomous underwater vehicle. According to the method, three buoys for emitting periodic acoustic signals are arranged on the water surface, and the position of the AUV is estimated according to the time when the three signals reach the AUV and the sound velocity profile. Meanwhile, system uncertainty caused by position estimation and ocean current interference is processed through extended Kalman filtering; in order to effectively process physical constraint conditions of an AUV system and achieve a certain optimal tracking effect, an AUV hydrodynamic model is considered, and a path tracking model predictive control (MPC) device is designed. Because positioning and control have different sampling time, track plotting is carried out on the control time step of silent mechanical positioning information by using an AUV nominal model. In consideration of the real-time performance of the algorithm, a continuous lineariz