System design for reducing underwater positioning error of submersible by using GNSS and underwater acoustic positioning technology

This research paper outlines a comprehensive set of models encompassing positioning and rescue schemes, utilizing Global Navigation Satellite System (GNSS) alongside underwater acoustic positioning technology. The primary focus is on building an efficient and reliable submersible predictive positioning and fault rescue safety system based on comprehensive data collection and analysis. For the first question, we successfully built a predictive model of the actual trajectory of the submersible by using the link between inertial data and the GPS positioning system. The Monte Carlo method is used to determine the uncertainty of prediction with the greatest probability, and the main uncertainties affecting the position deviation of submersible are machine aging and ocean current change. This lays a foundation for the subsequent establishment of the main ship fault search and rescue model, and provides a strong support for the passage of MCMS in safety audit. The establishment of this prediction model provides an important basis for the subsequent response to the failure of submersible. For the second question, we provide methods and schemes for the search and rescue of the main ship. We detect faulty submersibles through buoys, submersibles and magnetic detection devices, feedback the causes of underwater faulty submersibles, and provide methods for the subsequent establishment of the fault search and rescue model of the main ship. For the third question, we use the equipment provided by the second question to rescue the submersible when it fails, and establish a search and rescue model under the condition of submersible failure, so as to rescue the faulty submersible in an efficient and reliable way and ensure the personal safety of tourists. For the fourth question, we have extended the prediction model of submersible sailing trajectory and the search and rescue model of the main ship to different tourist sea areas, and realized the touristic formation design of multiple submersibles working together, trying to reduce costs and maximize benefits on the basis of safety. This system will be expanded to cover global tourist regions and scenarios involving multiple submersibles sailing together, enhancing the efficiency and success rate of submersible malfunction incidents.