It is found that pollution factor in under ground water around pollutant-holding water body is consistent with high content pollutant in surface pollutant-holding water body,that is to say,mainly because of organic pollution,the higher the concentration of pollutant in pollutant-holding water body,the higher the concentration of the same pollutant in underground water.

A Study on Terrain Matching Assistant Positioning Technology for Underwater Vehicle;

Global path planning is one of the key techniques of underwater vehicle’s intelligent control system,whose purpose is to find a collision-free path from the source position to the destination position according to some optimization criteria.

The control system of underwater vehicle was designed by using the advantages of the two methods.