An AUV Positioning Method Based on the Reverse Navigation Solution Using Buoys

The positioning technology of autonomous underwater vehicles (AUVs) is crucial for autonomous navigation, collision avoidance, and data accuracy across various fields. However, the positioning error of inertial navigation systems (INS) diverges over time, and AUVs cannot receive external Global Navigation Satellite System (GNSS) signals during long underwater voyages. However, AUVs cannot frequently surface to receive GNSS signals and require the assistance of buoys. Therefore, An AUV Positioning Method based on the Reverse Navigation Solution using Buoys is needed to inversely estimate the AUV's position based on the buoy's location. To address this issue, this paper proposes an AUV positioning method based on reverse navigation solution of a buoy. The AUV releases a buoy underwater to receive GNSS signals. Then it use the data stored in the Inertial Measurement Unit (IMU) during the buoy's ascent for reverse navigation calculations, thereby significantly improving the underwater positioning accuracy of AUVs. Ultimately, This paper conducts sufficient simulation experiments to verify the feasibility of the algorithm under different paths and sensors' precisions. The results show that the AUV positioning accuracy through reverse navigation calculation using buoys improves by an average of 53.36%, demonstrating the enhancement in AUV positioning accuracy.