Deviation Compensation Ridge Estimation Method for AUV Underwater Acoustic Difference Positioning

Under the complex and dynamic conditions of the marine environment, underwater acoustic positioning is seriously affected by systematic errors, resulting in the reduction of autonomous underwater vehicle (AUV) positioning accuracy. The underwater difference positioning method can effectively eliminate the influence of periodic systematic errors, but in the case of unreasonable observation track or network structure, the results of least squares solution may have serious ill-posed problems. Based on the analysis of the ill-posed spatial distribution of difference positioning, a deviation compensation ridge estimation method is proposed to improve the stability of AUV underwater acoustic difference positioning solution. This method uses the correlation between the unbiased estimation results and the ridge estimation results, and adds the deviation compensation term to the traditional ridge estimation results, so as to reduce the influence of bias on the estimation results. The AUV underwater acoustic positioning experiment is designed, and the results show that the proposed deviation compensation ridge estimation method can reduce the influence of deviation introduction on the estimation results while reducing the impact of ill-posed problems.