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AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL

1,2,*, 1,2 and 1,2
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Author to whom correspondence should be addressed.
Academic Editor: Jaime Lloret Mauri
Sensors 2016, 16(1), 42;
Received: 27 October 2015 / Revised: 22 December 2015 / Accepted: 23 December 2015 / Published: 30 December 2015
(This article belongs to the Special Issue Underwater Sensor Nodes and Underwater Sensor Networks 2016)
PDF [5307 KB, uploaded 30 December 2015]


This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS) and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Doppler velocity log (DVL)/magnetic compass pilot (MCP), a three-dimensional TDOA positioning algorithm of Taylor series expansion and a multi-sensor information fusion algorithm. The final simulation results show that compared to traditional underwater positioning algorithms, this scheme can not only directly correct accumulative errors caused by a dead reckoning algorithm, but also solves the problem of ambiguous correlation peaks caused by multipath transmission of underwater acoustic signals. The proposed method can calibrate the accumulative error of the AUV position more directly and effectively, which prolongs the underwater operating duration of the AUV. View Full-Text
Keywords: LBL; TDOA; underwater positioning; information fusion LBL; TDOA; underwater positioning; information fusion

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Zhang, T.; Chen, L.; Li, Y. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL. Sensors 2016, 16, 42.

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