ABSTRACT
In dynamic ocean environments, ranging errors caused by the temporal and spatial variations of sound speed are the main challenges faced by underwater navigation. High-precision acoustic navigation technology usually relies on complex sound ray-tracing algorithms and requires in-situ sound speed profile observations, which makes it difficult to meet real-time navigation and positioning needs. For this, we propose a parametric modeling approach for effective sound speed errors. By constructing a function model that correlates effective sound speed errors with the elevation angle and depth of sound rays, combined with observed time delay information, corrections for ranging errors are achieved. It shows that the proposed method can accurately model effective sound speed errors and improve computational efficiency by more than 15 times while maintaining an accuracy loss of less than decimeters in positioning and less than centimeters per second in measuring speed, which provides favorable technical support for real-time navigation services.
