水下单信标导航算法研究及置信区间分析

To optimize the selection of navigation points in single-beacon navigation algorithms and improve navigation accuracy, the confidence intervals of different underwater single-beacon navigation algorithms are analyzed and compared in this study. Three typical underwater single-beacon navigation algorithms, namely, the time of arrival (TOA)-based method, the direction of arrival (DOA)-based method, and the TOA-DOA-based method, are considered. The relationships between the navigation and measurement errors of the three methods are established based on the partial differential matrix. On this basis, the influences of the TOA and DOA errors on the confidence interval distributions of the navigation results of the three methods are analyzed using the covariance matrix of navigation errors. In addition, the confidence interval distributions of the three navigation methods are compared from the perspectives of horizontal dilution of precision and confidence ellipse. The theoretical induction and simulation results suggest that the TOA and DOA errors affect the distribution of the confidence interval based on the relative geometrical relationship between navigation points and the beacon, and the navigation results of the TOA-and DOA-based methods are complementary.