THE INTEGRATED NAVIGATION METHOD BY UNDERWATER TOWING BODY BASED ON DEAD RECKONING/HYDROACOUSTIC POSITIONING SYSTEM

In order to reduce the positioning error accumulated by the dead reckoning system and the data fluctuation from hydroacoustic positioning systems, this paper adopted the integrated navigation method of the underwater towing body based on the dead reckoning/hydroacoustic positioning system for navigation and positioning of deep-tow systems. Firstly the output data of DVL and compass are used to get the position of the underwater towing body by dead reckoning. Then the position data and the acoustic positioning system outputs are fused to get the continuous and smooth navigation data of the deep-tow system with high accuracy. The method may achieve high-accuracy navigation and positioning data of a underwater towing body which is validated by experimental data of sea trials. The results indicate that the integrated navigation method can curb the error divergence of the dead reckoning system, and reduce the data fluctuation of hydroacoustic positioning systems. Also the integrated navigation method can obtain smooth and high-accuracy position of a underwater towing body.