Real-time high-precision longitude and latitude calculation method for underwater robot

The invention relates to a real-time high-precision longitude and latitude calculation method for an underwater robot, and the method comprises the following steps: carrying out the positioning of theunderwater robot through an ultrashort baseline, and discontinuously obtaining discontinuous longitude and latitude information; acquiring real-time and continuous relative displacement information of the underwater robot by using a ship position calculation method; when a packet of effective USBL positioning data is received in the current period, updating the reference longitude and latitude ofthe underwater robot; and when the effective USBL positioning data is not received in the current period, calculating the longitude and latitude of the position where the underwater robot is locatedin real time by utilizing the relative displacement information and the reference longitude and latitude. The method is simple and practical, and the longitude and latitude precision and real-time performance of the underwater