一种基于单移动GPS智能浮标的AUV导航方法

针对传统全球定位系统（GPS）辅助自主式水下航行器（AUV）导航的局限性,给出了一种基于单移动GPS智能浮标（GIS）的自主水下航行器（AUV）导航方法。利用超短基线（USBL）原理设计了AUV导航天线,通过该导航天线测量GIS与天线上水听器间的角度和距离,并由两者的向量关系和GIS的坐标位置导出了系统的量测方程。应用标准卡尔曼滤波（KF）解算水听器的坐标,进而求得AUV的位置坐标。仿真结果表明,该导航方法能较好地克服GPS在水下导航中的局限性,具有机动性好、隐蔽性强等优点,研究成果有望为AUV远程精确定位、路径规划和多AUV协同导航等方面提供理论基础。

A Navigation Method for AUV Based on a Single Moving GPS Intelligent Sonobuoy

Aiming at the limitation of the traditional autonomous underwater vehicle（AUV） navigation with auxiliary global positioning system（GPS）,a method for AUV navigation using a single moving GPS intelligent sonobuoy（GIS） is presented.A novel AUV navigation antenna is designed based on the principle of ultra-short baseline（USBL）,therefore the angles and ranges between the GIS and hydrophones of AUV navigation antenna can be measured.Then,via using vector relation and coordinates of the GIS,the measurement equation is obtained.By applying Kalman filter（KF）,the coordinates of the hydrophones can be estimated,and then the location of AUV is derived.Simulation results demonstrate that this approach can overcome the shortcomings of the traditional methods,and has good flexibility and stealth,which may provide some theoretical foundations for the accurate long-range localization,path planning and collaborative navigation of AUVs.