Underwater multi-source navigation positioning method based on submarine oil and gas pipeline detection

The invention provides an underwater multi-source navigation positioning method based on submarine oil and gas pipeline detection, which comprises the following steps of: establishing an information filtering model of centralized SINS/DVL/USBL integrated navigation to obtain global optimal prediction estimation of a navigation error state; then respectively establishing an SINS/DVL/USBL integrated navigation system state model and an SINS/DVL/USBL integrated navigation observation model; the homeopathic nonlinear state estimation precision is improved by improving a DS-UKF algorithm and fully utilizing delay measurement information; and finally, through an outlier detection algorithm of a weighted one-class SVM (Support Vector Machine), the noise and jump point problems of the USBL data are effectively solved, so that the underwater navigation precision is improved. According to the method, the underwater positioning precision problem of the long-endurance pipeline detection robot is effectively solved, and t