Journal
IEEE ACCESS
Volume 6, Issue -, Pages 7157-7163Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2018.2795799
Keywords
Long baseline (LBL); TOA; underwater positioning; SINS
Categories
Funding
- National Natural Science Foundation of China [51375088]
- Foundation of Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, China [201403]
- Fundamental Research Funds for the Central Universities [2242015R30031]
- Key Laboratory fund of the Ministry of public security based on large data structure Grant [2015DSJSYS002]
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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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