中文摘要：

受环境影响,声学定位系统输出的位置信息波动较大,还会出现数据跳变或丢失现象,严重影响了水下载体的定位精度。针对此问题,提出一种基于声学定位/航位推算的组合导航方案,该方案在组合滤波前对声学定位系统输出数据可用性进行判断,进而选择不同的导航方式。采用计算机仿真和海试实验对研究方法进行了验证,结果表明,该方法能有效融合两种导航系统的优点,平滑声学定位系统数据的波动,且当声学定位系统输出异常时,水下载体短时间内还能保持较高的定位精度。

英文摘要：

Influenced by the environment, the location information output of the acoustic positioning system fluctuates greatly. Moreover, there will be data jump or loss phenomenon, which seriously affects the positioning precision of the underwater vehicle. Aiming at this problem, an integrated navigation scheme based on acoustic positioning and dead reckoning is put forward. In this scheme, the usability of acoustic positioning system is judged to choose different navigation patterns before filtering. Computer simulation and sea trial are implemented to verify the method. The result indicates that the two navigation systems can be well fused; smoothing the data from acoustic positioning system and the position accuracy of underwater vehicle can be kept comparative high for a short time, when the output of acoustic positioning system is abnormal.