为了提高自主水下航行器的导航精度，提出了一种新型地形无源组合导航系统。

To improve the navigation accuracy of an autonomous underwater vehicle (AUV), a novel terrain passive integrated navigation system (TPINS) is presented.

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由于自主水下航行器建模误差、流体动力学参数的不确定性和未知海流干扰，控制系统必须具有对不确定参数的自适应能力。

The control system must be adaptive to the uncertain parameters to overcome the modeling error, uncertainty of the hydrodynamic parameters and unknown ware disturbances.

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水下潜器长时间隐蔽航行依赖于自主水下定位手段。

The long time concealable sail of underwater vehicles depend on autonomous navigation.

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