Autonomous underwater vehicles navigation method based on Ultra Short Base Line and Dead Reckoning

This paper proposes a navigation method based on integrated Ultra Short Base Line (USBL) and Dead Reckoning (DR) navigation system. This method smooths the USBL data through DR by testing the USBL navigation system stability and availability and then the Extended Kalman Filter (EKF) is applied to the optimal estimation of the integrated navigation system. Finally, the effectiveness of the proposed method is validated by the experiment through the integrated navigation platform in the water tank.

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