Inertia/single-sound-source passive integrated navigation method based on slant range difference matching

The invention discloses an inertia/single-sound-source passive integrated navigation method based on slant range difference matching; and aiming to overcome the defect that information is easy to expose in a traditional acoustic active positioning mode, an integrated navigation technology of inertial navigation assisted by a single-sound-source passive positioning mode is adopted, a sound source transmits signals outwards according to a fixed period, and the positioning is completed through the time difference of the received signals. For an underwater vehicle, only external sound signals are received, and autonomous positioning can be realized under the condition that signals are not radiated to the outside, so that the concealment and the safety of navigation positioning of the underwater vehicle are effectively improved. 本发明公开了一种基于斜距差匹配的惯性/单声源被动组合导航方法，本发明针对传统声学主动定位方式下信息容易暴露的缺点，采用一种单声源被动定位方式辅助惯性导航的组合导航技术，声源按照固定周期向外发射信号，通过接收到信号的时间差完成定位。对于航行器来说，只接收外界的声信号，而可以在不对外辐射信号的情况下实现自主定位，有效地提高了水下航行器导航定位的隐蔽性和安全性。