Hybrid Tightly-coupled SINS/LBL for Underwater Navigation System

The application of long baseline aided strap-down inertial navigation system (SINS/LBL) has been demonstrated to be an effective solution for accumulative position errors underwater vehicles (UVs). To address the inefficient positioning when available hydrophones are few in acoustic array, a hybrid tightly-coupled SINS/LBL is presented system. composed SINS, LBL and pressure sensor (PS). model based on slant range, slant-range rate, difference rate established according location principle time arrival (TOA) (TDOA) number two. TDOA adopted more than two models could switched with each other as changes array. This paper used experimental data obtained from unmanned surface vehicle (USV) validate performance. Compared single model, proposed method can provide faster error convergence accurate submerged fixes.