Underwater Positioning Algorithm Based on SINS/LBL Integrated System | Zendy

Tao Zhang | Zendy; Liping Chen | Zendy; Yaxiong Yan | Zendy

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Underwater Positioning Algorithm Based on SINS/LBL Integrated System

Author(s) -

Tao Zhang,

Liping Chen,

Yaxiong Yan

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2795799

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

The interactive assistance of a strap-down inertial navigation system (SINS) and a long baseline (LBL) underwater positioning algorithm based on time of arrival is studied, and this algorithm mainly includes a solution algorithm of equivalent sound velocity, 3-D LBL underwater positioning algorithm with aided of SINS. The proposed method can quickly get the ideal equivalent sound velocity to calculate the distance from sound source to hydrophones, and effectively reduce the positioning errors caused by the uneven distribution of underwater sound velocity and sound ray bending, with high flexibility and adaptability. The results of simulation indicate that compared with the traditional algorithm, the improved can correct the cumulative error more directly and effectively, and extend the working hours of autonomous underwater vehicles.

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