Doppler Aided Synthetic Long Baseline Navigation for a Fast-Moving Underwater Vehicles

Underwater navigation that relies solely on dead reckoning suffers from unbounded position error growth. In traditional positioning method, the cost and trouble of deploying, recovering, and assembly have become insuperable obstacle. Based on combination SLBL with an AUV, a new positioning method of autonomous navigation is proposed in the paper. And based on pattern time delay shift coding pulse, Doppler Aided Synthetic LBL method could be described with Doppler effects from AUV moving. Under the underwater multipath and a fast moving AUV, the reasons to bring out positioning error would be given and some advices of the path planning of AUV would be suggested also. At last, the positioning solution of AUV in the relative field trial could be finished and verified.