Research on an adaptive multi-beacon DR/LBL compact integrated navigation method
In response to the challenges present in existing combined navigation methods based on underwater acous-tics,which involve unstable reception of beacon response signals and the impact of range measurement errors due to sound velocity inaccuracies on navigation performance,we propose an integrated navigation approach.Grounded in the Extended Kalman Filtering methodology and employing the fixed-point kinematic equations of watercraft velocity and heading,as well as random sound velocity disturbances as system equations,we utilize time delays as observational data.Adaptive construc-tion of observation equations is achieved based on the received,randomly varying time delay information,enabling adaptive processing of beacon response signals under various reception scenarios.Through validation with experimental data ob-tained in the vicinity of Qingdao's coastal waters,this method exhibits high data utilization rates,faster convergence,and su-perior positioning accuracy.Furthermore,it demonstrates the capability to effectively estimate the average sound velocity of seawater,enhancing its practical utility.
long-baseline acoustic localizationnavigational position projection algorithmextended Kalman fil-tercombinatorial navigation
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