Positioning and Orientation by the Integrated System for Underwater Acoustic Arrays

The accuracy of the position and attitude of the acoustic array is the precondition of underwater acoustic source identification and detection based on array signal processing. In order to provide accurate reference coordinates for the array, the Strapdown Inertial Navigation System (SINS) / Sonobuoy / magnetic compass integrated positioning and orientation system is proposed to use for it. SINS is the leading system, and sonobuoy and magnetic compass are the assistant systems. The SINS error equation is used as the state equation of the integrated system. In order to improve the observability of the attitude and position simultaneously, the measurement equation containins both the attitude and position information, and the observability of the system is analyzed. Taking the acoustic vector hydrophone array hoisted under the hull as the research object, the simulation results show that the position and attitude of the array can be determined accurately.