Design of Inertial/Acoustic Integrated Navigation System of Underwater Vehicle

As important means of marine surveys, resource development and military purpose, underwater vehicles are widely used in civilian and military applications. High precision navigation is a necessary condition for underwater vehicles to obtain effective information. It is also a key factor in determining the safe operation and smooth return of underwater vehicles. Inertial navigation system is the core equipment for navigation of underwater vehicles, but its positioning accuracy error increases with time, which is unable to meet the requirements of long-time and long-range underwater vehicles. Aiming at this problem, combining the advantages of high accuracy in short term of the inertial navigation system and the error of LBL acoustic navigation system that does not accumulate with time, this paper designs the inertial/acoustic integrated navigation system of underwater vehicles. The system can calibrate and correct the inertial navigation system of underwater vehicles in the situation where GPS and BeiDou satellite positioning cannot be used, which can satisfy the needs of deep sea high precision, long-range navigation and autonomous navigation of underwater vehicles.