中文摘要：

在运动受力分析的基础上建立了浮标水下无动力运动弹道数学模型，编写Matlab程序实现了弹道仿真，获得了浮标在水下运载体右正横方向上的位移，并基于此建立了运载体水下定位模型，最后针对此模型对水下运载体的定位误差进行了初步分析，其定位误差满足一般水下运载体导航要求．

英文摘要：

This article presents the mathematical model of buoy＇s trajectory and realizes the trajectory simulation using the Matlab program. The underwater positioning model is established utilizing the buoy＇s displacement relative to underwater vehicle. Finally, the underwater vehicle＇s positioning error is analyzed, the error meets the requirement of common underwater vehicle. In conclusion, this method is a new idea on underwater vehicle positioning.