中文摘要：

长基线声学定位系统是水下机器人广泛应用的外部导航设备。以对“CR-02”6000m自治水下机器人（简称AUV）技术的深入开发为背景，提出在原有长基线（LBL）定位系统的基础上增加导航功能的方案。由于海水介质非均匀性与复杂的时空变化特性，给基于测距的位置计算带来很大困难。采用平均声速法计算耗时小而误差大，波阵面定位法误差小而耗时大。为解决这个矛盾，根据AUV深度传感器给出的深度信息，采用本征声线快速计算方法解算AUV的水平面位置。与波阵面法、平均声速法进行了综合比较。仿真实验表明该方法具有优良的性能，满足AUV导航需要。

英文摘要：

Long base-line acoustic positioning system is widely used as outer navigation equipment in unmanned underwater vehicles. A scenario that adding the navigation function on primary LBL system is brought forward here under the ground of advanced study of ＂CR-02＂6000 meters AUV. The accurate position calculation using range measurements is difficult because of both non-uniformity and diversity with time and space of seawater medium. In AUV position using LBL beacons, the positioning error of average sound velocity method is relatively great. Conversely, the wave front method is accurate, but time-consuming. The horizontal range between AUV and transponder is obtained through eigenray search by extraction of the nonlinear equation with Newton iterative method. Results of the simulation show that this positioning algorithm possesses excellent qualities and satisfies the navigation requirements of AUV.