For deep sea navigation, unmanned undersea vehicle(UUV) cannot track to the bottom because of the limita-tion of Doppler velocity log(DVL) measured distance. Therefore, a navigation and positioning method based on the UUV dynamic model is proposed in this paper. The estimation method of ocean current based on the extended Kalman filter is employed to calculate the ocean current information in UUV operating area, then the information is added into the UUV system model to compensate the errors induced by the model due to its unable perception of external environ-ment, hence the accuracy of navigation and positioning is improved. Simulation proves the feasibility and effectiveness of the proposed method. This method is able to be applied to future UUV deep sea exploration.%针对深海航行中无人水下航行器(UUV)受多普勒测速仪(DVL)测距的限制,无法进行对底跟踪的问题,提出了洋流估计下的UUV动力学模型导航定位方法.利用基于扩展卡尔曼滤波(EKF)的洋流估计方法,解算出UUV作业海域洋流信息,将洋流信息加入到UUV系统模型中,对UUV动力学模型无法感知外界环境产生的误差进行了补偿,从而提高了导航定位的精度.仿真结果证明了该算法的可行性以及有效性,对未来UUV深海探索具有很好的实用性.
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