A Cooperative Navigation Method of EKF Moving Long Baseline for AUV Based on Pseudo-range Measurements

Moving long baseline(MLBL) localization of an autonomous undersea vehicle(AUV) will produce a certain amount of time-delay positioning error due to the slow acoustic signal propagation velocity in water and the movement of AUV itself, which cause differences in time and position in measuring the distances between an AUV and different buoys. In this paper, an extended Kalman filtering(EKF) MLBL time-delay algorithm based on pseudo-range measure-ment is proposed. In this algorithm, the EKF is adopted to reconstruct the measurement equation of the system via pushing-forward the AUV’s position states. So the measurement equation matches with the system measurement in time, and the error from time delay is eliminated. Theoretical analysis and simulation results show that the algorithm can significantly improve the accuracy of navigation and localization.