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Volume 28 Issue 6
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2020  >  28(6): 670-676
LIU Xiang-heng, WANG Ya-bo, LIU Xian-jun. Midwater Navigation Algorithm Based on Single-Beacon Ranging-Aided SINS[J]. Journal of Unmanned Undersea Systems, 2020, 28(6): 670-676. doi: 10.11993/j.issn.2096-3920.2020.06.012
Citation: LIU Xiang-heng, WANG Ya-bo, LIU Xian-jun. Midwater Navigation Algorithm Based on Single-Beacon Ranging-Aided SINS[J]. Journal of Unmanned Undersea Systems, 2020, 28(6): 670-676. doi: 10.11993/j.issn.2096-3920.2020.06.012
shu

Midwater Navigation Algorithm Based on Single-Beacon Ranging-Aided SINS

doi: 10.11993/j.issn.2096-3920.2020.06.012
  • 1.

    The Sixth Military Representative Office of the Naval Equipment Department in Wuhan, Wuhan 430000, China

  • 2.

    Wuhan Second Ship Design and Research Institute, Wuhan 430205, China

  • 3.

    School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China

  • Received Date: 2020-07-22
  • Rev Recd Date: 2020-10-21
  • Publish Date: 2020-12-31
    Abstract
  • Global navigation satellite system and Doppler velocity log cannot be used for deep-diving undersea vehicles in midwater. Therefore, this study proposes an economically feasible midwater navigation algorithm to solve this problem. The algorithm utilizes the one-way arrival time mechanism to measure the distance from a beacon of a known position to a deep-diving undersea vehicle. To suppress error divergence of the strapdown inertial navigation system(SINS), an extended Kalman filter based on SINS error propagation and a single-beacon ranging model is designed to execute information fusion for single-beacon ranging-aided SINS. Simulation results show that the midwater navigation algorithm based on ranging-aided SINS can obtain localization results whose errors do not accumulate over time. In addition, for analytical observability, this study analyzes the accuracy of static and circular motion trajectories, where the theoretical analysis is shown to be consistent with the simulation results.

     

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