Abstract The localization performance of single beacon navigation system is affected by the accuracy of effective sound velocity (ESV) which is difficult to precisely know. The state augmented method and expectation–maximization (EM) based method, the two existing state-of-the-art single beacon navigation methods which can deal with the unknown ESV, are sensitive to the noise statistic parameters and vehicle initial position offset, respectively. This paper proposes a variational Bayesian (VB) approximation based adaptive single beacon navigation method to deal with these deficiencies. The ESV is treated as a random variable with unknown statistic parameters, and the state vector, ESV and ESV uncertainty parameters are simultaneously estimated by VB approximation. Numerical studies indicate that the proposed VB approximation based navigation method can overcome the deficiencies of both state augmented and EM-based navigation methods, achieve better localization and ESV estimation performance than the existing state-of-the-art methods.

中文翻译：

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一种未知ESV的基于变分贝叶斯逼近的自适应单信标导航方法

摘要 单信标导航系统的定位性能受有效声速（ESV）精度的影响，难以精确知道。状态增强方法和基于期望最大化（EM）的方法是两种现有的可以处理未知 ESV 的最先进的单信标导航方法，分别对噪声统计参数和车辆初始位置偏移敏感. 本文提出了一种基于变分贝叶斯 (VB) 近似的自适应单信标导航方法来解决这些不足。ESV 被视为一个具有未知统计参数的随机变量，状态向量、ESV 和 ESV 不确定性参数同时通过 VB 近似估计。