{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T12:23:10Z","timestamp":1772540590514,"version":"3.50.1"},"reference-count":33,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2024,1,3]],"date-time":"2024-01-03T00:00:00Z","timestamp":1704240000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2021YFC2803005"],"award-info":[{"award-number":["2021YFC2803005"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2021YFC2801605"],"award-info":[{"award-number":["2021YFC2801605"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["ZR2022MD03"],"award-info":[{"award-number":["ZR2022MD03"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100007129","name":"Shandong Provincial Natural Science Foundation","doi-asserted-by":"publisher","award":["2021YFC2803005"],"award-info":[{"award-number":["2021YFC2803005"]}],"id":[{"id":"10.13039\/501100007129","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100007129","name":"Shandong Provincial Natural Science Foundation","doi-asserted-by":"publisher","award":["2021YFC2801605"],"award-info":[{"award-number":["2021YFC2801605"]}],"id":[{"id":"10.13039\/501100007129","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100007129","name":"Shandong Provincial Natural Science Foundation","doi-asserted-by":"publisher","award":["ZR2022MD03"],"award-info":[{"award-number":["ZR2022MD03"]}],"id":[{"id":"10.13039\/501100007129","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>The operation of underwater vehicles in deep waters is a very challenging task. The use of AUVs (Autonomous Underwater Vehicles) is the preferred option for underwater exploration activities. They can be autonomously navigated and controlled in real time underwater, which is only possible with precise spatio-temporal information. Navigation and positioning systems based on LBL (Long-Baseline) or USBL (Ultra-Short-Baseline) systems have their own characteristics, so the choice of system is based on the specific application scenario. However, comparative experiments on AUV navigation and positioning under both systems are rarely conducted, especially in the deep sea. This study describes navigation and positioning experiments on AUVs in deep-sea scenarios and compares the accuracy of the USBL and LBL\/SINS (Strap-Down Inertial Navigation System)\/DVL (Doppler Velocity Log) modes. In practice, the accuracy of the USBL positioning mode is higher when the AUV is within a 60\u00b0 observation range below the ship; when the AUV is far away from the ship, the positioning accuracy decreases with increasing range and observation angle, i.e., the positioning error reaches 80 m at 4000 m depth. The navigational accuracy inside and outside the datum array is high when using the LBL\/SINS\/DVL mode; if the AUV is far from the datum array when climbing to the surface, the LBL cannot provide accurate position calibration while the DVL fails, resulting in large deviations in the SINS results. In summary, the use of multi-sensor combination navigation schemes is beneficial, and accurate position information acquisition should be based on the demand and cost, while other factors should also be comprehensively considered; this paper proposes the use of the LBL\/SINS\/DVL system scheme.<\/jats:p>","DOI":"10.3390\/rs16010199","type":"journal-article","created":{"date-parts":[[2024,1,3]],"date-time":"2024-01-03T11:31:50Z","timestamp":1704281510000},"page":"199","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning"],"prefix":"10.3390","volume":"16","author":[{"given":"Yixu","family":"Liu","sequence":"first","affiliation":[{"name":"National Deep-Sea Base Management Center, Qingdao 266237, China"},{"name":"College of Environmental Science and Engineering, Ocean University of China, Qingdao 266101, China"}]},{"given":"Yongfu","family":"Sun","sequence":"additional","affiliation":[{"name":"National Deep-Sea Base Management Center, Qingdao 266237, China"}]},{"given":"Baogang","family":"Li","sequence":"additional","affiliation":[{"name":"National Deep-Sea Base Management Center, Qingdao 266237, China"},{"name":"Logistics Engineering College of SMU, Shanghai Maritime University, Shanghai 200135, China"}]},{"given":"Xiangxin","family":"Wang","sequence":"additional","affiliation":[{"name":"National Deep-Sea Base Management Center, Qingdao 266237, China"},{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Lei","family":"Yang","sequence":"additional","affiliation":[{"name":"National Deep-Sea Base Management Center, Qingdao 266237, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,1,3]]},"reference":[{"key":"ref_1","first-page":"1","article-title":"Progresses and Prospects in Deceloping Marine Geodetic Datum and Marine Nacigation of China","volume":"46","author":"Yang","year":"2017","journal-title":"Acta Geod. 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