基于等效虚拟长基线定位模型的水下组合导航算法

To address the dynamic positioning error caused by asynchronous reception of beacon ranging information in the acoustic source long baseline (LBL) positioning system, an integrated underwater navigation algorithm based on equivalent virtual long baseline (EVLBL) positioning model is proposed. Firstly, the positioning error model for the acoustic source LBL system under the motion state of autonomous underwater vehicle (AUV) is established and analyzed. Then, the EVLBL model is designed on this basis, and dead reckoning increments from the AUV during the signal reception intervals are used to perform an equivalent translation of the beacons, thereby creating a virtual beacon array. Finally, an integrated navigation algorithm incorporating compass, Doppler velocity log, depth sensor, and the virtual beacon array is designed. Simulation results show that compared to the traditional LBL algorithm, the proposed integrated navigation algorithm reduces the positioning errors in the east and north directions from 1.41 m and 1.39 m to 0.13 m and 0.14 m, respectively.