Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 2. Simulation

摘要

The algorithm presented earlier is detailed for the case when an autonomous underwater vehicle (AUV) is equipped with a strapdown inertial navigation system (SINS) based on angular rate sensors and a water speed log. The algorithm simulation results for a SINS of navigation grade, a dual axis water speed log, two trajectories of the AUV motion when approaching the beacon to a distance of 100 m; two values of the AUV’s speed; continuous and fragmented diagrams of received acoustic measurements are presented. The results show that the algorithm provides the AUV positioning accuracy of several meters even in the situations when the received acoustic measurements are discontinuous. It has been found that the accuracy characteristics provided by the algorithm adequately reflect the level of real errors.