Research into the integrated navigation of a deep-sea towed vehicle with USBL/DVL and pressure gauge

Underwater Towed Vehicle navigation and localization in deep sea environments are particularly challenging without high-precision inertial sensors. In this paper, the multi-sensors navigation fusion method of a towed underwater vehicle based on the ultrashort baseline (USBL) system, Doppler velocity log (DVL) and a pressure gauge in the deep sea is investigated. Combined with GPS real-time tide detection technology, the positioning principle of...