Autonomous underwater vehicle autonomous navigation locating method

The invention relates to an autonomous underwater vehicle autonomous navigation locating method, in particular to an autonomous underwater vehicle autonomous navigation locating method based on a strong tracking volume Calman filter. The autonomous underwater vehicle autonomous navigation locating method includes the steps of selecting an autonomous underwater vehicle motion model, selecting an autonomous underwater vehicle measurement model, building a dynamic system through the autonomous underwater vehicle motion model and the autonomous underwater vehicle measurement model, initializing a filter parameter, selecting fading factor, updating filter time, updating filter measuration data, updating to a next moment from the present moment, repetitively executing the step (5) to the step (7) until a terminal moment is reached, finishing calculating and outputting a result. Filtering gaining matrix is adjusted in real time by introducing the fading factor, outputting residual error sequence is forced to keep orthogonal to each other to reduce weight number of an old data. The weight number of a new data is relatively increased. Estimated accuracy and stability of the filter are improved.