Research on Trajectory Smoothing Optimization Algorithm of Underwater Long Baseline Positioning System

With the development of economy and military in today's era, more and more fields have higher and higher requirements for the positioning accuracy of underwater vehicles. However, so far, the main way of underwater positioning still depends on the underwater acoustic positioning method under the background of geometric principle. At the same time, according to the size of different receiving acoustic array, it can be divided into the following three categories: long baseline positioning technology (LBL), short baseline positioning technology (SBL) and ultra short baseline positioning technology (USBL). The positioning system used in this paper is based on the long baseline positioning system.