On the navigation positioning technologies in AUV underwater docking

The primary navigation positioning problems in AUV (Autonomous Underwater Vehicle) underwater docking were summarized. The docking phases were divided based on different operating ranges, and the positioning characteristics were analyzed, then the influences of docking orientation to positioning information requirement were discussed in detail. The navigation positioning technique and performances of the positioning sensors were summarized, and the roles of the acoustic and optic positioning systems played were studied in middle and closing phases. Future trends were discussed ultimately for underwater docking positioning.