Buoys-aided integrated navigation method for UUV under ice with sea ice drift compensation

doi:10.11947/j.AGCS.2026.20260028

Abstract

Abstract:

To address the problem that the measurement values of the upward-looking Doppler velocity log (DVL) are significantly affected by sea ice drift when unmanned underwater vehicle (UUV) navigate under ice, a buoy-aided integrated navigation method for UUV under ice is proposed. Firstly, a sea ice drift motion model is established to clarify the coupling mechanism of sea ice drift on UUV velocity measurements. Secondly, the measurement error equations of each sensor considering sea ice drift are derived in detail, and the Kalman filter models for the UUV inertial navigation/upward-looking DVL integrated navigation assisted by single-buoysanddouble-buoysareconstructedrespectively. Finally, simulation experiments are designed. The results show that, in the single-buoy-aided mode, the proposed algorithm effectively suppresses the systematic errors induced by sea ice drift, achieving a positioning error reduction of 81.96% over the traditional SINS/upward-looking DVL integrated navigation method ignoring sea ice drift errors. In the dual-buoy-aided mode, by leveraging baseline motion information, the algorithm enables accurate estimation of sea ice drift errors, further reducing positioning error by 93.29% compared to traditional method. This provides an effective solution for long-endurance, high-precision UUV navigation under ice.

Key words: sea ice drift, unmanned underwater vehicle, under-ice navigation and positioning, ice-based buoy, upward-looking DVL, Kalman filter

CLC Number:

P229

Siyuan BAI, Hongzhou CHAI, Qing WU, Gen LI, Yuhao YE, Honglei MA. Buoys-aided integrated navigation method for UUV under ice with sea ice drift compensation[J]. Acta Geodaetica et Cartographica Sinica, 2026, 55(4): 698-707.

Figures/Tables 12

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传感器	参数	取值
陀螺仪	零偏/（（°）/h）	0.2
陀螺仪	随机游走/	0.01
加速度计	零偏/μg	100
加速度计	随机游走/	50
DVL	随机误差（1σ）/（m/s）	[0.1，0.1，0.1]
声学测距	随机误差（1σ）/m	3
GNSS	随机误差（1σ）/m	[1，1，1]
PS	随机误差（1σ）/m	0.1