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Test Results of the Long Baseline Navigation Solutions under a Large a Priori Position Uncertainty

A method is proposed for long baseline navigation of autonomous underwater vehicles (AUV) to be used in the case of a large a priori position uncertainty. The new modified method is based on the iterated Kalman filter (IKF) working with different initial linearization points. The final solution is calculated by clustering and weighting the IKF results. This approach allows position estimates to be determined in accordance with the global maximum of posteriori probability density of coordinates. The test results obtained with the use of three beacons and an underwater vehicle are presented.