Augmented Underwater Acoustic Navigation with Systematic Error Modeling Based on Seafloor Datum Network

Underwater acoustic navigation technology is an important approach to achieving high precision ocean navigation. One of the critical issues of the technology is to correct systematic errors, which are related to time delays and time-varying sound speed errors. In this study, we propose an augmented underwater acoustic navigation with systematic error model based on seafloor datum network. The proposed algorithm first selects data sets of piece-wise systematic error modeling by extracting the main periodic term of systematic errors based on the Fourier transform. Before that, the wavelet transform is used for denoising to better extract the main periodic term. Then the systematic error correction model is constructed by using the polynomial fitting method. After that, an augmented observation equation of underwater acoustic navigation with systematic error correction is constructed. Finally, an adaptive robust Kalman filter is developed for underwater acoustic navigation. The proposed algorithm is verified by an experiment in the South China Sea. The three-dimensional root mean square values of underwater acoustic navigation are 1.010 and 1.502 m in the operating range of 2.7 and 8.7 km. The results demonstrate that the proposed algorithm can efficiently reduce the influence of systematic error, thus improving underwater acoustic navigation accuracy.