A USBL/DR underwater integrated positioning method based on the cubature particle filter
Year: 2025
Type: conference-paper
Abstract: This paper proposes a USBL/DR underwater integrated navigation method based on the cubature particle filter (CPF) to address the challenges of navigation in complex underwater environments. The proposed algorithm utilizes an autonomous underwater vehicle (AUV) equipped with a Doppler velocity log (DVL) and a heading reference system for dead reckoning (DR). A hybrid positioning system is developed by integrating position and velocity data from the ultra-short baseline (USBL) and DVL. To overcome the issue of particle degradation commonly observed in particle filters during integrated navigation data fusion, CPF is employed for enhanced filtering performance. The proposed algorithm was successfully tested through both simulation experiments and lake trials. The approach successfully combines the advantages of both navigation systems, demonstrating superior underwater positioning accuracy over short durations compared to conventional particle filter (PF) and unscented particle filter (UPF) methods.
Authors: Zicheng Dou, Chengming Luo, Hongxuan Fan, Zizhuo Liu, Han Xu
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4409548555