Abstract
AbstractIn recent years, AUVs have played an increasingly important role in underwater operations, such as marine environment monitoring, water conservancy project maintenance, ocean current danger handling, marine terrain surveys, etc. Underwater positioning and navigation technology is the key to AUV’s precise operation technical support. With the rapid development of science and technology and the enrichment of underwater navigation technology, underwater multi-source fusion technology was born. The multi-source fusion positioning system can better integrate the advantages of various navigation sources and achieve more accurate navigation. Firstly, this paper summarizes and analyzes underwater positioning methods such as geomagnetic matching navigation, underwater acoustic positioning, inertial navigation, etc. Then some other positioning methods including visual positioning, SLAM, gravity matching, etc. are introduced. Factor graph based and filtering based underwater multi-source positioning algorithms are analyzed further. The above-mentioned various positioning and navigation technologies can be combined to assist each other to form a multi-source fusion positioning system, which improves the positioning accuracy of the navigation system and optimizes the overall performance of the system.KeywordsGeomagnetic matching navigationAcoustic positioningInertial navigationMulti-source fusion positioning
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