An AUV positioning error correct algorithm based on acoustic propagation time compensation

In allusion to positioning error for underwater vehicle, the INS/multi-beacons acoustic range measurements integrating method is proposed. The error result from vehicle motion and acoustic propagation time is mainly analyzed, and a correcting positioning error algorithm based on acoustic propagation time compensation is presented. In this algorithm, the EKF is adopted, and the measurement equation is reconstructed via pushing-forward the INS's position error states. As a result, the measurement equation and the system measurement become synchronous, and the error from time delay is eliminated. The simulation results indicate that the algorithm can significantly improve the accuracy of correcting INS positioning error with INS/multi-beacons acoustic range measurements integrated navigation system.