Research on integrated navigation algorithm based on ranging information of single beacon

The conventional long baseline (LBL) positioning system based on beacon ranging has a high positioning accuracy, but it need at least three acoustic beacons, when positioning the autonomous underwater vehicles (AUVs). The LBL positioning system has a high deployment and recovery cost. It also has the problem that LBL positioning model does not take AUVs motion into consideration, so the signal to transmit and receive at different locations. To solve this problem, this paper constructs a model based on indirect adjustment. The model uses single beacon distance information, velocity information of target motion as the observations. The simulation analysis and test results show that model can solve signal to transmit and receive at different locations, and it can improve the positioning accuracy effectively. When dynamic positioning, it doesn't have missed detection problem of LBL positioning system. When static positioning, it is stable and error fluctuation is small. The tracking trajectory is smooth and continuous, and the computational complexity is equivalent to the conventional LBL. It has good engineering application value.