Underwater Long Baseline Positioning Algorithm based on Double-Parameter Constraint

The uneven underwater terrain and the node motion lead to unpredictable changes in the arrival structure of acoustic signal, and thus the jump in the estimation of the propagation delay of the acoustic signal as well as the 'jump' of the positioning track (JPT) of the long baseline (LBL) positioning system based on the time delay estimation. None of the existing methods can eliminate the jump points completely. In this paper, a new underwater LBL positioning algorithm based on the double-parameter constraint (DPC) is proposed. On the basis of traditional LBL positioning algorithms, a trajectory correction algorithm with double judgement based on the target speed and steering speed parameters is considered. By performing cubic spline interpolation on the positioning points judged as jumps, the impact of jumps of the delay estimation on the final positioning trajectory can be eliminated greatly, thereby reducing positioning errors. Both the simulation analysis and the lake experiments verify the effectiveness of the proposed method.