移动USBL测距辅助的UUV协同导航定位方法

The navigation accuracy of unmanned underwater vehicles (UUV) can be easily affected by inertial navigation systems (INS), which may cause severe consequences to the UUV system. To solve the above problem, this paper introduces a mobile navigation and positioning method for the UUVs by using an unmanned surface vehicle (USV)-assisted ultra short base line (USBL) system. Firstly, based on the highly accurate navigation results from the integration of INS and global navigation satellite system (GNSS) in the USV, the relative positions and attitudes are measured using USBL. Secondly, the state-space model and the observation model of the UUV-aided cooperative navigation system are then established by fusing INS error dynamics of the UUV. Thirdly, an estimation and filter scheme based on adaptive Kalman filters is used for obtaining the accurate estimates of the UUV states. Simulation and experimental results show that the proposed algorithm can effectively increase the UUV navigation and positioning accuracy.