The invention relates to the technical field of
underwater navigation and positioning, and particularly discloses a wide-area very-low-frequency
radio navigation and
underwater sound combined
underwater navigation and positioning method, which comprises the following steps that: a very-low-frequency navigation transmitting
station transmits a very-low-frequency
radio navigation time service
signal; the semi-submersible acoustic
beacon receives a very-low-frequency
radio navigation time service
signal; performing position calibration and
time synchronization; the semi-submersible acoustic
beacon emits an underwater acoustic navigation
signal, and the underwater carrier calculates the three-dimensional coordinates of the underwater carrier according to the received underwater acoustic navigation signal. According to the invention, a
shore-based very-low-frequency radio navigation and underwater sound combined navigation mode is adopted, and a very-low-frequency radio navigation time service signal has a certain underwater entry depth, so that the
problem of time synchronization between semi-submersible acoustic beacons is solved, and auxiliary calibration of the positions of the semi-submersible acoustic beacons is provided; the semi-submersible acoustic
beacon emits an
underwater navigation signal to realize navigation and positioning of a deepwater underwater carrier, and reliable navigation service with
wide area coverage, high precision and low
power consumption is provided for the underwater carrier.