海洋测绘2026，Vol.46Issue(2)：56-59,64,5.DOI:10.3969/j.issn.1671-3044.2026.02.011
一种融合USBL和INS的水下组合定位方法
An underwater integrated positioning method integrating USBL and INS
马鑫程 1贾旭 1孙玉强 1李敏1
作者信息
- 1. 中交公路规划设计院有限公司,北京 100010
- 折叠
摘要
Abstract
To address the issues of low positioning accuracy and poor stability in underwater navigation,this paper proposes a combined positioning method based on an adaptive Kalman filter integrating USBL and INS.This method introduces the forgetting factor to dynamically adjust the noise covariance matrix,effectively fuses the high-frequency and high-precision short-term data from the INS and the long-term stable positioning information from the USBL,significantly improves the system's adaptability to ocean environmental changes and sensor errors.Experimental results show that,compared with USBL positioning,alone this method improves positioning accuracy by approximately 66%and demonstrates excellent robustness in complex sea conditions,provides effective technical support for highly reliable underwater navigation.关键词
水下导航定位/超短基线定位系统/惯性导航系统/自适应卡尔曼滤波/遗忘因子Key words
underwater navigation and positioning/ultra-short baseline positioning system/inertial navigation system/adaptive kalman filtering/forgetting factor分类
天文与地球科学引用本文复制引用
马鑫程,贾旭,孙玉强,李敏..一种融合USBL和INS的水下组合定位方法[J].海洋测绘,2026,46(2):56-59,64,5.
