With the promotion of global ocean strategy and the development of digital ocean technology,the Unmanned Underwater Vehicle(UUV)is increasingly becoming a crucial means for major powers to compete in relevant areas,such as underwater warfare,military reconnaissance and deep ocean survey.And the real-time and precise underwater positioning technology is the prerequisite and insurance for ocean task execution.Affected by the complicated marine environment,the traditional positioning methods such as the Global Navigation Satellite System(GNSS)cannot be used.So how to explore an underwater unmanned positioning technology of high reliability and high precision has become the focus of current research.Based on inertial navigation technique,Ultra-Short Baseline(USBL)positioning underwater acoustic positioning technology,and collaborative positioning technology,a collaborative navigation and positioning method of UUV and Unmanned Surface Vehicle(USV)is proposed.A sound speed correction technique based on Particle Swarm Optimization(PSO)algorithm is adopted to improve underwater acoustic positioning accuracy.Then Kalman filtering estimation is carried out according to the established state space model.Accordingly,the optimized UUV positioning result will be achieved.The method creatively optimizes the location of UUV transponders,which can effectively identify and automatically eliminate error data and fault data,and improve the continuity,stability and reliability of system positioning.The simulation results show that the optimized positioning accuracy can achieve 2.15 m.
UUVcollaborative positioning and navigationUSBLPSO algorithmKalman filtering
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