{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T04:06:16Z","timestamp":1771473976913,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2023,3,30]],"date-time":"2023-03-30T00:00:00Z","timestamp":1680134400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Unlike aerial or terrestrial navigation, the global navigation satellite system (GNSS) is not available underwater. This is a big challenge for underwater navigation. The inertial navigation system (INS) aided by the single-beacon acoustic positioning system (APS) provides one solution, but the long-range case is limited by low-SNR conditions. Inspired by passive synthetic aperture detection, we proposed a new tightly coupled navigation algorithm based on spatial synthesis and one-way-travel-time (OWTT) range measurement. We design two estimators: the DOA\/range estimator using the model-based method and the tightly coupled INS\/APS navigation estimator. Based on the improved UKF, all information is combined. Simulation is carried out in MATLAB. Compared with range-only tightly coupled INS\/APS navigation, synthetic long baseline (SLBL) algorithm and Doppler velocity logger (DVL) aided centralized extended Kalman filter (CEKF) based single beacon INS\/OWTT navigation, the proposed method\u2019s performance is proven. The main contributions of this work are: (1). Propose a new architecture of underwater integrated navigation; (2). Apply the passive acoustic detecting method in the navigation to improve accuracy. (3). Apply the tightly coupled method to improve availability.<\/jats:p>","DOI":"10.3390\/rs15071854","type":"journal-article","created":{"date-parts":[[2023,3,31]],"date-time":"2023-03-31T01:37:02Z","timestamp":1680226622000},"page":"1854","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Tightly Coupled INS\/APS Passive Single Beacon Navigation"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9658-3535","authenticated-orcid":false,"given":"Zhuoyang","family":"Zou","sequence":"first","affiliation":[{"name":"College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China"},{"name":"Centre for Transport Studies, Department of Civil and Environmental Engineering, Imperial College London, South Kensington Campus, London SW7 2BU, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenrui","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9401-219X","authenticated-orcid":false,"given":"Bin","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lingyun","family":"Ye","sequence":"additional","affiliation":[{"name":"College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Washington Yotto","family":"Ochieng","sequence":"additional","affiliation":[{"name":"Centre for Transport Studies, Department of Civil and Environmental Engineering, Imperial College London, South Kensington Campus, London SW7 2BU, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Webster, S.E., Lee, C.M., and Gobat, J.I. 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