The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.

• 采用不同的导航传感器和UKF信息融合方法的地形无源组合导航系统可以有效地减小水下航行器导航位置误差，提高组合导航的稳定性和精度。