A Post-Processing Method of Navigation Data for Leader AUV Based on Backward Calculating

Since the leader autonomous undersea vehicle(AUV) cannot receive the external information if the multi-AUV cooperative navigation system works under water for a long time and its localization error will gradually diverge and affect the localization performance of the overall system, a post-processing method based on integrated navigation of strap-down inertial navigation system(SINS)/Doppler velocity log(DVL) and SINS/DVL/global positioning system(GPS) is proposed. Adopting SINS/DVL integrated navigation, the leader AUV processes the navigation information forwardly and stores the navigation information sampled during the process when AUV maneuvers, and then it receives the GPS information after coming out of water and uses the two navigation methods of SINS/DVL and SINS/DVL/GPS for independent filtering. After filtering, the leader AUV’s localization error accumulated under water is processed inversely to correct the localization error of the leader AUV through forward and backward calculating, so as to improve the localization performance of the overall multi-AUV system. Moreover, the feasibility and validity of the proposed post-processing method is verified through simulation. This method can be applied to underwater terrain scanning, sea chart drawing and underwater exploration to further improve localization accuracy of the underwater data sampled by multi-AUV and enhance veracity and usefulness of the data.