A positioning method for AUV based on guiding light source

This paper proposes a method for determining the position of underwater vehicles using light vision guidance. In order to solve the problem of limited perception distance and unclear underwater images, the illumination device is installed on the recovery platform as a light source to enhance the feature information of the recovery platform. The collected underwater light source images are enhanced by the dark channel prior defogging algorithm, and then the YOLOv5 algorithm is used to recognize the targets. Through experiments, it is verified that the image enhancement algorithm and target recognition algorithm are effective. Using the recognition results, the positioning accuracy of the binocular camera ranging algorithm is verified, and the results indicate that the proposed method can accurately determine the distance of the AUV relative to the recovery platform.