Autonomous Terrain-Aided Navigation System based on Non-Rigid MBES Digital Twin

This paper introduces an Autonomous TerrainAided Navigation (TAN) system leveraging Non-Rigid Multibeam Echo Sounder (MBES) Digital Twin technology, termed DT-NR-PF. The system simulates the measurement behavior of MBES sensors underwater and predicts measurements, thereby reducing the parameter count essential for the MBES digital twin model construction. By integrating multivariate linear regression with non-rigid MBES digital twin models, it independently estimates the velocity of Autonomous Underwater Vehicles (AUVs), eliminating the reliance on external reference navigation systems. This advancement enhances the capability and autonomy of MBES as a standalone navigation device. Experimental outcomes demonstrate the system’s proficiency in executing TAN without the need for Sound Velocity Profile data or external velocity measurement devices, thus facilitating the development of the autonomous TAN system.