水下单信标导航航路规划和最优航路接近方法

Compared with the traditional long baseline (LBL) and ultra-short baseline (USBL) navigation methods, single beacon navigation has the advantages of simple deployment and low cost. However, its navigation accuracy needs to be further improved, thus, a single beacon navigation path planning method is proposed. The expression of horizontal dilution of precision ( HDOP) factor is derived by Taylor series expansion, and the influence of relative geometric position relationship of navigation point and acoustic beacon on navigation precision is analyzed. Finally. the path planning method is given. On this basis, a method for the autonomous underwater vehicle (AUV) to effectively and accurately approach the optimal path from other locations is also proposed, which includes two parts. One is to establish a filter model with time delay as the observed quantity, and the AUV position estimate is obtained in real time by the filter algorithm; the other is to design the trajectory of the optimal path approaching process according to the results of observability degree analysis. The combination of the two makes the AUV approach the optimal path with high efficiency and high precision. Several simulations arc implemented to validate the effectiveness of the proposed methods, and the path planning makes the root mean square error (RMSE) of the estimated position of AUV approximately equal to 2 m.