Analysis of the Influence of Attitude Error on Underwater Positioning and Its High-Precision Realization Algorithm

GNSS/INS can provide position, attitude, and velocity (PAV) information for shipborne platforms. However, if the ship has a long-term linear motion or stationary state, is under combined actions of sea surface swells, there will be situation sideslip drift; traveling slowly shaking violently, attitude calculation not completed. In above situation, traditional single-antenna measurement mode suitable, observability poor; heading angle information, especially, gradually diverge. Unreliable directly lead to significant increase in underwater positioning errors. this paper, multi-antenna combination algorithm developed used high-precision PAV thereby able obtain results. The experimental results show that method improved acquisition position horizontal direction accuracy navigation measurement. particular, 3 degrees freedom (DoF) are by 10.1% (roll), 8.6% (pitch), 29.3% (yaw).