Research On Underwater Collaborative Positioning And Navigation Algorithm Based On USBL/SINS

With the in-depth exploration of marine resources,the requirements for real-time positioning and navigation accuracy,reliability,and stability of underwater positioning systems are increasingly increasing.Ultra Short Base Line(USBL)uses multiple arrays and acoustic beacons to measure distance and azimuth.It has been positioned and has the advantages of small size and convenient use,but there may be missing transmission data;Strapdown Inertial Navigation System(SINS)can perform position calculation in real time,with high accuracy,reliability,and strong functionality.However,positioning errors will increase over time.Aiming at the difficulty of a single system to meet the needs of the underwater environment,this paper uses information fusion technology to organically combine USBL and SINS to establish a USBL/SINS collaborative positioning and navigation system,and analyzes the results of Huber robust estimation filtering and other filtering methods in loose combination mode.The specific research content of this article is as follows:1.The basic theories of two common underwater acoustic positioning and navigation systems,long baseline positioning system and short baseline positioning system,are studied.The results of different Kalman filtering for the two positioning technologies are compared,and the estimation errors in attitude,velocity,and position are analyzed.The error of the short baseline is emphatically analyzed,and the distance ambiguity problem,data preprocessing,and improvement measures are briefly introduced.2.The basic principle,position calculation derivation,and error analysis of an ultrashort baseline underwater acoustic positioning system are emphatically introduced.It is proposed to reduce positioning errors by increasing the distance between primitives or using bandwidth signals,and to measure the phase and phase difference of the system using adaptive notch filtering.The error analysis and accuracy simulation of the ultra short baseline system effectively validate the proposed measures to improve positioning accuracy.3.A USBL/SINS collaborative positioning and navigation filtering algorithm based on H robust estimation is studied and proposed.Firstly,the principle,solution,error models and equations of the strapdown inertial navigation system are described;4.Secondly,the state equation and measurement equation in the loose combination mode of USBL/SINS are established,and the H robust estimation algorithm and filtering in collaborative positioning and navigation are studied;Finally,computer simulation is used to analyze the filtering algorithms under different estimates,as well as the error situation of the H robust estimation based filtering and the standard Kalman filtering under different interference factors,to verify the effectiveness of the algorithm.