Abstract
Underwater acoustic ranging error results from varied causations which make it diverge from Gaussian distribution and bring about low-precision EKF results in range-only positioning and navigation algorithm. A slow varying ranging deviation model is proposed here, the ranging deviation comprises gaussian noise and non-gaussian slow varying deviation. Then an improved EKF (IEKF) algorithm and the initial state value determining method are brought forward. Simulated experiments and lake trial are conducted, results show that IEKF could tracing and compensate the ranging deviation, thus achieves better precision than conventional EKF.
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