The invention discloses a UUV (
Unmanned Underwater Vehicle)
route self-adaptive adjustment method based on
ocean current and
pose information fusion, which comprises the following steps: step 1, carrying an acoustic Doppler
ocean current profiler on a UUV, measuring the
ocean current flow velocity under a beam coordinate
system, and carrying out integration
processing by combining the position and
pose data of the UUV to obtain ocean information combined with the
pose of the UUV; step 2, calculating the optimal initial course of UUV navigation according to the ocean information combined with the UUV pose obtained in the step 1; step 3, judging whether the result calculated in the step 2 is interfered by navigation interference factors, if so, executing step 4, and if not, outputting the optimal initial course; and 4, calculating the course of the UUV when the UUV is interfered by the navigation interference factors, calculating the optimal course after the UUV is interfered according to the information obtained in the step 2, and outputting the optimal course after the UUV is interfered. According to the method, the UUV can be adjusted to the
optimal route through adaptive adjustment of the
route, so that the navigation efficiency is improved while the task is ensured to be completed.