Transversal navigation algorithm for Unmanned Underwater Vehicles in the polar region

Abstract

In order to solve the problem that the traditional navigation algorithm is unavailable for Unmanned Underwater Vehicles (UUVs) navigation in the polar region, a transversal navigation algorithm for polar UUV navigation is proposed in this paper. Traditional latitude and longitude is redefined in the transversal navigation algorithm to overcome the problems caused by the rapid convergence of the meridians in high latitude areas. Based on the transversal latitude and longitude coordinate system, the relevant frames are also redefined. According to the frames, the error equations of polar UUV navigation are established. Then, the states and observation equations are proposed. Considering the characters of UUV, OCTANS and Doppler velocity log (DVL) are chosen to assist the polar UUV navigation. Transversal Strapdown Inertial Navigation System (SINS), OCTANS and DVL form the integrated navigation algorithm. An adaptive Kalman filter (AKF) is introduced to realize the data fusion. Compared with the traditional SINS, the performance of the transversal navigation algorithm proposed in this paper is verified. The simulation results demonstrate that the proposed transversal navigation algorithm is suitable for polar UUV navigation.