Underwater Long Baseline Localization based on Doppler Measurements for a Fast-Moving Underwater Vehicle

Underwater navigation that relies solely on dead reckoning suffers from unbounded position error growth. In traditional positioning method based on TDOA, usual interference from multipath reflections and background noise leads to the choice of some fault correlation peaks under low SNR condition, especially in LBL. In the paper, the combination of LBL and Doppler shift estimation of an AUV will be expected to enable survey accuracy at any water depth where the position of an underwater acoustic transmitter equipped on the moving platform can be determined. And based on pattern time delay shift coding pulse, the positioning solution method about frequency estimation of Doppler shift in LBL could be described with Doppler effects from AUV moving. And a computation simulation, including three beacons in LBL, was performed to verify the performance of the proposed algorithm.