Analysis of AUV Positioning Performance in Shallow Ocean Based on GPS／BDS Combination

  In order to solve the problem of large positioning errors when underwater robots work in shallow seas, this paper focuses on the high-precision positioning and navigation system for shallow seawater robots based on GPS／BDS dual-mode combined positioning technology under the condition of shallow sea electromagnetic wave signal attenuation characteristics. In order to compare the positioning performance of the dual-mode positioning system, the GPS and BDS single-mode positioning system is set up. The positioning data processing method using a median filtering algorithm and a Kalman filtering algorithm is proposed to test the dual-mode positioning system and we use filtering data to get the system's positioning performance. The test results show that: the positioning accuracy of the dual-mode positioning system is higher than that of the single-mode positioning system and the application of the median filter and the Kalman filtering algorithm can significantly improve the positioning accuracy of the dual-mode positioning system.