USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction

JIAO Huifeng; YE Chen; WANG Wenchu; MAO Zhaoyong; WANG Yintao

doi:10.11993/j.issn.2096-3920.2024-0005

Volume 32 Issue 5

Oct 2024

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Article Navigation > Journal of Unmanned Undersea Systems > 2024 > 32(5): 864-873

JIAO Huifeng, YE Chen, WANG Wenchu, MAO Zhaoyong, WANG Yintao. USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction[J]. Journal of Unmanned Undersea Systems, 2024, 32(5): 864-873. doi: 10.11993/j.issn.2096-3920.2024-0005

Citation:

JIAO Huifeng, YE Chen, WANG Wenchu, MAO Zhaoyong, WANG Yintao. USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction[J]. Journal of Unmanned Undersea Systems, 2024, 32(5): 864-873. doi: 10.11993/j.issn.2096-3920.2024-0005

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USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction

doi: 10.11993/j.issn.2096-3920.2024-0005

JIAO Huifeng^{1, 2
,},
YE Chen^3
,,
WANG Wenchu^4
,,
MAO Zhaoyong^1
,,
WANG Yintao^1
,

1.
Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, China
2.
China Ship Scientific Research Center, Wuxi 214016, China
3.
China Academy of Space Technology, Xi’an 710100, China
4.
Unit 91007^th, the Liberation Army of China, Shanghai 200090, China

Received Date: 2024-01-12
Accepted Date: 2024-03-29
Rev Recd Date: 2024-03-25

Available Online: 2024-09-05

Abstract

Abstract

Unmanned undersea vehicles(UUVs) undergo a cumulative increase of inertial navigation error caused by long-term cooperative movement. In order to reduce the relative navigation errors between unmanned surface vessels(USVs) and UUVs and improve the navigation accuracy of UUVs, a USV/UUV cooperative navigation algorithm based on moving long baseline and navigation error correction was proposed in this paper. The algorithm was based on underwater acoustic communication ranging. First, UUV collected the relative distance information between it and USVs, calculated the relative navigation error correction, and then added the correction to the current navigation position of USVs. Finally, the accumulated inertial navigation error of UUVs was corrected by combining the formation setting between USVs and UUVs and the position calculated by the UUVs’ low-precision navigation equipment. The simulation results show that the navigation accuracy of UUVs can be significantly improved during the USV/UUV cooperative movement by blending the corrected UUV position information with the position calculated by the inertial navigation of UUV.
- unmanned undersea vehicle,
- unmanned surface vessels,
- cooperative navigation,
- moving long baseline,
- relative navigation error

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References(14)

References

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