• 中国科技核心期刊
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Volume 30 Issue 1
Feb  2022
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2022  >  30(1): 37-43
CHEN Ke-yu, HUANG Nan-yu, SU Wei, CHENG En. Underwater Concealed Navigation and Positioning Method Based on SINS and LBL[J]. Journal of Unmanned Undersea Systems, 2022, 30(1): 37-43. doi: 10.11993/j.issn.2096-3920.2022.01.005
Citation: CHEN Ke-yu, HUANG Nan-yu, SU Wei, CHENG En. Underwater Concealed Navigation and Positioning Method Based on SINS and LBL[J]. Journal of Unmanned Undersea Systems, 2022, 30(1): 37-43. doi: 10.11993/j.issn.2096-3920.2022.01.005
shu

Underwater Concealed Navigation and Positioning Method Based on SINS and LBL

doi: 10.11993/j.issn.2096-3920.2022.01.005

  • Key Laboratory of Underwater Acoustic Communication and Marine Information Technology of Ministry of Education, Xiamen University, Xiamen 361005, China

  • Received Date: 2021-04-01
  • Rev Recd Date: 2021-04-26
  • Publish Date: 2022-02-28
    Abstract
  • In the military and some civil fields, autonomous undersea vehicles(AUVs) are required to navigate in a concealed state. Therefore, in this study, the strap-down inertial navigation system(SINS) and long baseline(LBL) are integrated into a single system, in which an LBL beacon sends acoustic signals in different time slots according to a fixed order. After receiving the acoustic signals, the AUV calculates the translational position of each virtual beacon through the SINS. During navigation, the navigation error of the SINS can be corrected by the LBL underwater acoustic positioning information, and the corrected SINS position information can provide a more accurate virtual beacon translation for the LBL positioning. In the process of integrated navigation and positioning, multi-point LBL positioning is carried out by fusing node redundant information, which can improve the positioning accuracy; the historical redundant node is used to replace the missing node to ensure a normal measurement update. The integrated navigation system is verified using a MATLAB simulation. The simulation results showed that the AUV integrated navigation system based on SINS and LBL could fully suppress the pure inertial navigation error when the AUV was concealed, improve the navigation positioning accuracy, and save system energy. After using redundant information, the navigation accuracy, reliability, and fault tolerance of the system were further improved

     

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