In order to meet the needs of high-precision navigation for underwater vehicles, a strapdown inertial navigation system (SINS)/ultra-short baseline (USBL) tightly coupled integrated strategy is proposed, which can avoid the errors generated in the calculation of absolute position and improve the positioning accuracy of the integrated navigation system compared with the loosely coupled strategy. In addition, due to the influence of environmental noise in the ocean, the measurement of USBL is accompanied by a large number of outliers, which leads to the decrease of the precision of the integrated navigation system based on traditional Kalman filter. Therefore, a robust filter based on Gaussian-Exponential distribution is presented for the SINS/USBL integrated navigation system in this paper. Finally, the feasibility and the superiority of the proposed algorithm is verified through simulation and field test in the Yangtze River.

中文翻译：

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SINS/USBL组合导航系统中基于高斯指数分布的鲁棒卡尔曼滤波器

为了满足水下航行器高精度导航的需求，提出了一种捷联惯性导航系统（SINS）/超短基线（USBL）紧耦合集成策略，可以避免绝对位置计算中产生的误差。与松耦合策略相比，提高了组合导航系统的定位精度。此外，由于海洋环境噪声的影响，USBL的测量伴随着大量异常值，导致基于传统卡尔曼滤波器的组合导航系统精度下降。因此，本文针对SINS/USBL组合导航系统提出了一种基于高斯指数分布的鲁棒滤波器。最后通过仿真和长江现场测试验证了该算法的可行性和优越性。