关键词: 无人水下航行器（UUV）, 导航, 航位推算, 水下应答器定位, 容积卡尔曼

Abstract: To solve the dead reckoning navigation algorithm error accumulated problems, the underwater transponder auxiliary navigation calculates integrated navigation algorithm. Uses the current statistical model for traffic prediction model, a more accurate description of the vehicle movement state has been obtained. Using underwater transponder combined with navigation calculation algorithm, to air a reckon navigation error correction, in order to obtain a better filtering effect, the square root cubature Kalman filter has been introduced as the filtering algorithm of integrated navigation system, and compared with the EKF filtering algorithm. Simulation experiments show that the square root cubature Kalman filter has better filtering accuracy than the EKF filtering algorithm, and UTP/DR integrated navigation algorithm effectively avoids the navigation positioning error caused by the navigation error accumulated divergence problem, obtains the good effect of navigation and positioning.

Key words: Unmanned Underwater Vehicle（UUV）, navigation, Dead Reckoning（DR）, Underwater Transponder Positioning（UTP）, cubature Kalman