title: AUV Positioning Method Based on Tightly Coupled SINS/LBL for Underwater Acoustic Multipath Propagation.
abstract: This paper researches an AUV (Autonomous Underwater Vehicle) positioning method based on SINS (Strapdown Inertial Navigation System)/LBL (Long Base Line) tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range). Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL.
authors.affiliation: Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. 101011356@seu.edu.cn.|School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. 101011356@seu.edu.cn.
authors.forename: Tao
authors.initials: T
authors.lastname: Zhang
authors.affiliation: Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. 220132634@seu.edu.cn.|School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. 220132634@seu.edu.cn.
authors.forename: Hongfei
authors.initials: H
authors.lastname: Shi
authors.affiliation: Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. 220132597@seu.edu.cn.|School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. 220132597@seu.edu.cn.
authors.forename: Liping
authors.initials: L
authors.lastname: Chen
authors.affiliation: Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. liyao@seu.edu.cn.|School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. liyao@seu.edu.cn.
authors.forename: Yao
authors.initials: Y
authors.lastname: Li
authors.affiliation: Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. 230139522@seu.edu.cn.|School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. 230139522@seu.edu.cn.
authors.forename: Jinwu
authors.initials: J
authors.lastname: Tong
keywords: LBL; TDOA; fuzzy correlation peak; tightly coupled system