SINS/DVL/LBL interactive aiding positioning technology based on AUV

Given the quick attenuation of GPSs and radio signals underwater, inertial navigation is selected as the core system of underwater acoustic aiding navigation. A novel positioning technology based on SINS/DVL and LBL interactive aiding is proposed. The integrated navigation systems of the strapdown inertial system (SINS), long baseline, and Doppler sonar are selected as the platforms. Multiple cross-correlation peaks based on the TDOA method of LBL are generated because of the reflection and refraction of sound signals on the seabed and sea surface. The selected TDOA technique is introduced with the aiding of the SINS/DVL, and the precise location of the autonomous underwater vehicle (AUV) is obtained. Subsequently, the AUV position from the LBL can send feedback to the SINS/DVL system. Hence, the SINS/DVL and LBL systems can rectify each other. Furthermore, the position divergence problem of the AUV underwater is overcome by this system.