Abstract—

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.

中文翻译：

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没有先验位置的自主水下航行器单信标导航的多模型算法。第2部分。模拟

摘要-

对于自动水下航行器（AUV）配备基于角速度传感器和水速记录的捷联惯性导航系统（SINS）的情况，前面介绍的算法进行了详细说明。导航信标，双轴水速测井，接近信标到100 m距离时AUV运动的两个轨迹的SINS的算法仿真结果；AUV速度的两个值；给出了接收到的声学测量的连续图和碎片图。结果表明，即使在接收到的声学测量不连续的情况下，该算法也可以提供几米的AUV定位精度。已经发现，算法提供的准确性特征充分反映了实际误差的水平。