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Vol. 163, Issue 1, January 2014, pp. 161-165




A LBL Positioning Method Based on Feedback Kalman Filter

Jucheng Zhang, Dajun Sun, Changlin Ji

College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin, China
Tel.: +8613604803420, fax: 0451-82569502

E-mail: zhangjucheng2006@163.com


Received: 17 September 2013 /Accepted: 9 January 2014 /Published: 31 January 2014

Digital Sensors and Sensor Sysstems


Abstract: LBL (Long Basic Line) positioning is an important and high-precision method for underwater vehicle navigation. Due to its narrow work frequency-band, system would be easily affected by external factors and gave wrong results. A new Kalman filter model based on the feedback from travel time and position information was presented in this paper. By combining travel time with positioning in the Kalman filter, the navigation state of underwater vehicle was accurately estimated. Experimental results show that the influence of random high-frequency measurement noise on positioning results was effectively solved and the navigation precision was improved.


Keywords: LBL, Underwater vehicle, Navigation, Kalman filter, Feedback.


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