Research on Underwater Integrated Navigation Based on Distance Constraint

Integrated navigation with DVL and SINS can improve the positioning accuracy of UUV, but the work of DVL will destroy the concealment of UUV. The distance measured by underwater acoustic has a high accuracy, and does not significantly reduce the concealment of UUV. This paper proposed an underwater integrated navigation algorithm based on distance constraints and UBB-filter. Then, we verify the effectiveness of the method through simulation experiments. The results show that the method proposed in this paper has higher accuracy than the traditional KF based integrated navigation method. With the new method, the positioning error is reduced by 67.3%. The method proposed in this paper provide a new way of thinking for underwater integrated navigation, and this algorithm is effective.