Tightly Coupled INS/APS Passive Single Beacon Navigation

Unlike aerial or terrestrial navigation, the global navigation satellite system (GNSS) is not available underwater. This a big challenge for underwater navigation. The inertial (INS) aided by single-beacon acoustic positioning (APS) provides one solution, but long-range case limited low-SNR conditions. Inspired passive synthetic aperture detection, we proposed new tightly coupled algorithm based on spatial synthesis and one-way-travel-time (OWTT) range measurement. We design two estimators: DOA/range estimator using model-based method INS/APS estimator. Based improved UKF, all information combined. Simulation carried out in MATLAB. Compared with range-only long baseline (SLBL) Doppler velocity logger (DVL) centralized extended Kalman filter (CEKF) single beacon INS/OWTT method’s performance proven. main contributions of this work are: (1). Propose architecture integrated navigation; (2). Apply detecting to improve accuracy. (3). availability.