{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T13:33:12Z","timestamp":1779888792499,"version":"3.53.1"},"reference-count":33,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2024,8,21]],"date-time":"2024-08-21T00:00:00Z","timestamp":1724198400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Natural Science Research of Jiangsu Higher Education Institutions of China","award":["22KJB570003"],"award-info":[{"award-number":["22KJB570003"]}]},{"name":"Natural Science Research of Jiangsu Higher Education Institutions of China","award":["1012992301"],"award-info":[{"award-number":["1012992301"]}]},{"name":"Natural Science Research of Jiangsu Higher Education Institutions of China","award":["2022YFC2806600"],"award-info":[{"award-number":["2022YFC2806600"]}]},{"name":"Natural Science Research of Jiangsu Higher Education Institutions of China","award":["2022YFC2806604"],"award-info":[{"award-number":["2022YFC2806604"]}]},{"name":"Jiangsu Marine Technology Innovation Center","award":["22KJB570003"],"award-info":[{"award-number":["22KJB570003"]}]},{"name":"Jiangsu Marine Technology Innovation Center","award":["1012992301"],"award-info":[{"award-number":["1012992301"]}]},{"name":"Jiangsu Marine Technology Innovation Center","award":["2022YFC2806600"],"award-info":[{"award-number":["2022YFC2806600"]}]},{"name":"Jiangsu Marine Technology Innovation Center","award":["2022YFC2806604"],"award-info":[{"award-number":["2022YFC2806604"]}]},{"name":"National Key Research and Development Program of China","award":["22KJB570003"],"award-info":[{"award-number":["22KJB570003"]}]},{"name":"National Key Research and Development Program of China","award":["1012992301"],"award-info":[{"award-number":["1012992301"]}]},{"name":"National Key Research and Development Program of China","award":["2022YFC2806600"],"award-info":[{"award-number":["2022YFC2806600"]}]},{"name":"National Key Research and Development Program of China","award":["2022YFC2806604"],"award-info":[{"award-number":["2022YFC2806604"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>When autonomous underwater vehicles (AUVs) perform underwater tasks, the absence of GPS position assistance can lead to a decrease in the accuracy of traditional navigation systems, such as the extended Kalman filter (EKF), due to the accumulation of errors. To enhance the navigation accuracy of AUVs in the absence of position assistance, this paper proposes an innovative navigation method that integrates a position correction model and a velocity model. Specifically, a velocity model is developed using a dynamic model and the Optimal Pruning Extreme Learning Machine (OP-ELM) method. This velocity model is trained online to provide velocity outputs during the intervals when the Doppler Velocity Log (DVL) is not updating, ensuring more consistent and reliable velocity estimation. Additionally, a position correction model (PCM) is constructed, based on a hybrid gated recurrent neural network (HGRNN). This model is specifically designed to correct the AUV\u2019s navigation position when GPS data are unavailable underwater. The HGRNN utilizes historical navigation data and patterns learned during training to predict and adjust the AUV\u2019s estimated position, thereby reducing the drift caused by the lack of real-time position updates. Experimental results demonstrate that the proposed VM-PCM-EKF algorithm can significantly improve the positioning accuracy of the navigation system, with a maximum accuracy improvement of 87.2% compared to conventional EKF algorithms. This method not only improves the reliability and accuracy of AUV missions but also opens up new possibilities for more complex and extended underwater operations.<\/jats:p>","DOI":"10.3390\/s24165396","type":"journal-article","created":{"date-parts":[[2024,8,23]],"date-time":"2024-08-23T12:58:07Z","timestamp":1724417887000},"page":"5396","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["An Integrated Navigation Method Aided by Position Correction Model and Velocity Model for AUVs"],"prefix":"10.3390","volume":"24","author":[{"given":"Pengfei","family":"Lv","sequence":"first","affiliation":[{"name":"Ocean College, Jiangsu University of Science and Technology, Zhenjiang 212003, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junyi","family":"Lv","sequence":"additional","affiliation":[{"name":"Shenzhen Institute for Advanced Study, University of Electronic Science and Technology of China, Shenzhen 518110, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhichao","family":"Hong","sequence":"additional","affiliation":[{"name":"Ocean College, Jiangsu University of Science and Technology, Zhenjiang 212003, China"},{"name":"Jiangsu Marine Technology Innovation Center, Nantong 226199, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lixin","family":"Xu","sequence":"additional","affiliation":[{"name":"Ocean College, Jiangsu University of Science and Technology, Zhenjiang 212003, China"},{"name":"Jiangsu Marine Technology Innovation Center, Nantong 226199, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/j.oceaneng.2019.04.011","article-title":"Advancements in the field of autonomous underwater vehicle","volume":"181","author":"Sahoo","year":"2019","journal-title":"Ocean Eng."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Dhanak, M.R., and Xiros, N.I. 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