DR/USBL Integrated Navigation Algorithm for HOV

LIU Xian-jun; YE Peng; ZHANG Tong-wei; LIU Xi-xiang; SHENG Guang-run

doi:10.11993/j.issn.2096-3920.202105003

Volume 30 Issue 4

Sep 2022

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Article Navigation > Journal of Unmanned Undersea Systems > 2022 > 30(4): 494-499

LIU Xian-jun, YE Peng, ZHANG Tong-wei, LIU Xi-xiang, SHENG Guang-run. DR/USBL Integrated Navigation Algorithm for HOV[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 494-499. doi: 10.11993/j.issn.2096-3920.202105003

Citation:

LIU Xian-jun, YE Peng, ZHANG Tong-wei, LIU Xi-xiang, SHENG Guang-run. DR/USBL Integrated Navigation Algorithm for HOV[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 494-499. doi: 10.11993/j.issn.2096-3920.202105003

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DR/USBL Integrated Navigation Algorithm for HOV

doi: 10.11993/j.issn.2096-3920.202105003

1.
Wuhan Second Ship Design and Research Institute, Wuhan 430205, China
2.
63788^th unit, The People’s Liberation Army of China, Weinan 714000, China
3.
National Deep Sea Center, Qingdao 266237, China
4.
School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China

Received Date: 2021-05-08
Rev Recd Date: 2021-11-09

Available Online: 2022-07-29

Abstract

Abstract

An economically feasible integrated navigation algorithm is designed for deep-sea human-occupied vehicles(HOV) operating near the seafloor. The algorithm utilizes the Doppler velocity log and a strapped-down compass carried by the HOV to form a dead reckoning(DR) system. A four-dimensional Kalman filter is designed to integrate DR with the position information provided by an ultra-short baseline(USBL) acoustic positioning system to constitute a DR/USBL integrated navigation system. Considering that the actual measurements of the USBL usually contain a large number of outliers with few missing values, an online data-cleaning scheme using DR is designed. This design is robust and can provide continuous and consistent measurements for DR/USBL. Finally, semi-physical simulation results based on sea trial data show that the DR/USBL integrated navigation system can effectively integrate the advantages of the two systems to provide smoother and more accurate positioning information; the positioning error is within 25 m.
- human-occupied vehicle,
- dead reckoning,
- ultra-short baseline,
- integrated navigation

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References(16)

References

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