Technology of SINS/USBL highly tightly coupled integrated navigation based on phase difference measurements

Aiming at the poor accuracy of traditional SINS/USBL combined positioning method, this paper designs a new SINS/USBL highly tightly coupled integrated navigation algorithm based on phase difference measurements. Firstly, a SINS/USBL combined positioning structure based on double transponders is designed. By analyzing the error factors affecting the positioning accuracy of ultra-short baseline system, this paper establishes observation equation with the phase and slant range between the transponder and the hydrophone. This method can effectively eliminate the common errors in the USBL positioning system and improve the positioning performance of SINS/USBL integrated navigation system. In order to verify the effectiveness of the proposed algorithm, a simulation experiment for SINS/USBL integrated navigation system is carried out. The simulation results show that this method can effectively improve the positioning accuracy of SINS/USBL integrated navigation system compared with the traditional positioning algorithm.