Optimal Design of UUV Autonomous Navigation and Positioning Algorithm Based on TDOA Positioning Model

For UUV, the traditional navigation method is to integrate the Dopplervelocitylog (DVL) and inertial navigation system, based on dead reckoning, which usually has some problems, that is, with the increase of time, the error accumulation will become larger and larger. In this paper, the UUV autonomous navigation and positioning algorithm is optimized based on TDOA positioning model. Because UUV has accumulated errors over time, this error has little influence on short-endurance UUV, but for long-endurance UUV, the current velocity in UUV operation area obtained by TDOA positioning model flow estimation method is compensated to UUV navigation speed, which further reduces the positioning error. The data measured by the navigation and positioning system in the actual UUV test are processed and the processing results are given, which proves the correctness of the data processing method. With the aid of TDOA positioning model and flow estimation, UUV autonomous navigation and positioning algorithm can effectively avoid the positioning error caused by sensor failure or fault, and greatly improve the robustness and reliability of UUV navigation and positioning system.