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

Abstract

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

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

“…( , , , , ) =+ G X c t φ fd ε (9) where G is a realization function;  is the phase difference;  is the incident angle;  is the observation error. A more detailed system of equations for the derivation of USBL can be found in [14].…”

“…After years of development, GNSS (Global Navigation Satellite System) technology can achieve positioning accuracy in the decimeter or even centimeter range, providing highly accurate position information above the water surface [10][11][12]. The joint GNSS-A (acoustic) technology can provide a spatial and temporal reference for the establishment of ocean geodetic references and underwater positioning [13,14]. When the AUV is submerged for a period of time, the surface GNSS is used to correct the accumulated errors.…”

Computational fluid dynamic study on design and modification of underwater remotely operated vehicle

“…The necessity for more accurate underwater surveys and better underwater positioning and navigation technologies is highlighted by these situations. The appropriateness of the seabed sediment for burying the pipeline is determined by a geophysical analysis of the underlying strata once a suitable path has been selected [3]. After completion, annual side-scan sonar and sub-bottom profile surveys are required to verify the depth of burial.…”