Long-baseline navigation positioning method based on inertial navigation correction

Abstract

The invention relates to the technical field of underwater acoustic navigation positioning, in particular to a long-baseline navigation positioning method based on inertial navigation correction. Themethod comprises the steps of obtaining M estimated values of an X component of a current position of an underwater vehicle; performing outlier elimination and arithmetic averaging on the M+1 estimated values of the X component of the current position of the underwater vehicle at a moment ti, thereby obtaining an optimal estimated value of the X component of the current position of the underwatervehicle; obtaining M estimated values of a Y component of the current position of the underwater vehicle; performing outlier elimination and arithmetic averaging on the M+1 estimated values of the Y component of the current position of the underwater vehicle at the moment ti, thereby obtaining an optimal estimated value of the Y component of the current position of the underwater vehicle; determining the current position of the underwater vehicle according to the obtained optimal estimated value of the X component of the current position of the underwater vehicle and optimal estimated value ofthe Y component of the current position of the underwater vehicle; and realizing the navigation positioning of the underwater vehicle.

Description

technical field [0001] The invention belongs to the technical field of underwater acoustic navigation and positioning, and in particular relates to a long baseline navigation and positioning method based on inertial navigation correction. Background technique [0002] At present, underwater vehicles often use Doppler log and inertial navigation system for combined navigation and positioning technology. This method of navigation and positioning using ship position reckoning has high positioning accuracy in a short period of time. However, with the With the passage of time, positioning errors continue to accumulate. After the underwater vehicle has been working underwater for a certain period of time, it needs to float up to receive GPS signals for position correction. This process can easily lead to the leakage of its own position. [0003] In addition, the existing underwater acoustic navigation and positioning methods usually use long-baseline underwater acoustic navigatio...

AI Technical Summary

Problems solved by technology

[0002] At present, underwater vehicles often use Doppler log and inertial navigation system for combined navigation and positioning technology. This method of navigation and positioning using ship position reckoning has high positioning accuracy in a short period of time. However, with the As time goes by, positioning errors continue to accumulate

After working underwater for a certain period of time, the underwater vehicle needs to float up to receive GPS signals for position correction. This process can easily lead to the leakage of its own position

[0003] In addition, the existing underwater acoustic navigation and positioning methods usually use long-baseline underwater acoustic navigation and positioning technology, which has the characteristics that navigation errors do not accumulate over time; affected by the complex ocean environment, the average propagation speed of navigation signals from the transmitting position to the receiving position There is a certain estimation error; affected by the multi-path characteristics of the ocean, there is a certain estimation error in the time delay estimation of the navigation signal from the transmitting position to the receiving position; The interference of underwater acoustic physical phenomena makes the average sound velocity estimate have a large error compared with the real value, resulting in a mismatch between the sound velocity estimate and the propagation delay measurement value, which in turn causes the error of the underwater acoustic long baseline positioning results of individual points to suddenly increase

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