The invention relates to an
underwater robot navigation positioning method and
system. The method comprises the following steps: S1, acquiring
angular velocity and acceleration signals through an
inertial measurement unit; s2, resolving a three-dimensional velocity observation value according to the beam
radial velocity vector
signal in combination with the
angular velocity signal, and extracting environment feature
point cloud data according to the acoustic
image signal; s3, multi-
source data time synchronization is carried out, and a fusion input
signal with time-space alignment is generated; s4, constructing an adaptive
factor graph optimization model, and dynamically adjusting an inertial navigation solution node based on a real-time
weight coefficient; inputting the environment feature
point cloud data into a closed-loop detection module to generate a
loopback factor node, and adaptively correcting the weight of the node according to the
feature matching degree; and S5, solving the adaptive
factor graph optimization model through a nonlinear optimization
algorithm. According to the
underwater robot navigation positioning method and
system, the problem that the fusion positioning precision of a multi-source heterogeneous sensor is insufficient in an
underwater GPS-free environment can be solved.