Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm

被引：0
|
作者：
刘开周 [1 ]
李静 [2 ]
郭威 [1 ]
祝普强 [1 ]
王晓辉 [1 ]
机构：
[1] State Key Laboratory of Robotics (Shenyang Institute of Automation,Chinese Academy of Sciences)
[2] Graduate University of Chinese Academy of Sciences
来源：
JournalofCentralSouthUniversity | 2014年 / 21卷 / 02期
基金：
中国国家自然科学基金;
关键词：
human occupied vehicle; navigation; extended Kalman filter; unscented Kalman filter; adaptive unscented Kalman filter;
D O I：
暂无
中图分类号：
U666.1 [导航设备]; U674.941 [潜水船];
学科分类号：
081105 ;
摘要：
Inherent flaws in the extended Kalman filter(EKF) algorithm were pointed out and unscented Kalman filter(UKF) was put forward as an alternative.Furthermore,a novel adaptive unscented Kalman filter(AUKF) based on innovation was developed.The three data-fusing approaches were analyzed and evaluated in a mathematically rigorous way.Field experiments conducted in lake further demonstrate that AUKF reduces the position error approximately by 65% compared with EKF and by 35% UKF and improves the robust performance.
引用
收藏
页码：550 / 557
页数：8
相关论文
共 50 条
  • [41] Adaptive Robust Unscented Kalman Filter for AUV Acoustic Navigation
    Wang, Junting
    Xu, Tianhe
    Wang, Zhenjie
    SENSORS, 2020, 20 (01)
  • [42] Research for Adaptive Intelligent Underwater Vehicle Navigation and Positioning System
    Lu, Gang
    Zhang, Aijun
    Liu, Yashu
    Wang, Changming
    PRACTICAL APPLICATIONS OF INTELLIGENT SYSTEMS, 2011, 124 : 401 - 407
  • [43] Extended and Unscented Kalman filters for parameter estimation of an autonomous underwater vehicle
    Sabet, Mohammad Taghi
    Sarhadi, Pouria
    Zarini, Mostafa
    OCEAN ENGINEERING, 2014, 91 : 329 - 339
  • [44] A Two-Stage Kalman Filter for Integrated Navigation System of Underwater Vehicle
    Yu, Chengsheng
    Zhang, Fubin
    Zhang, Fanwen
    Yan, Rui
    2022 IEEE 9TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS, USYS, 2022,
  • [45] Vehicle State Estimation Based on the Combination of Unscented Kalman Filtering and Genetic Algorithm
    Zhou W.
    Qi X.
    Chen L.
    Xu X.
    Qiche Gongcheng/Automotive Engineering, 2019, 41 (02): : 198 - 205
  • [46] Correction Algorithm for the Navigation System of an Autonomous Unmanned Underwater Vehicle
    Chen, Danhe
    Neusypin, K. A.
    Selezneva, M. S.
    SENSORS, 2020, 20 (08)
  • [47] Online Identification of Key Parameters of Secondary Edges in Underwater WPT System Based on Unscented Kalman Filtering Algorithm
    Cheng Z.
    Zhang Z.
    Sui Q.
    Ji T.
    Li D.
    Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering, 2024, 44 (11): : 4470 - 4479
  • [48] Square-root unscented kalman filter for vehicle integrated navigation
    Zhang, Li-Guo
    Ma, Hai-Bo
    Chen, Yang-Zhou
    PROCEEDINGS OF 2007 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7, 2007, : 556 - 561
  • [49] Square-root unscented Kalman filter for vehicle integrated navigation
    Chen, Yang-Zhou
    Sun, Zhang-Gu
    Ma, Hai-Bo
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2008, 30 (05): : 926 - 928
  • [50] An underwater node localization algorithm based on double layer modified unscented Kalman filter
    Liu H.
    Qin Y.
    Deng Y.
    Dong M.
    Sun Y.
    Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2020, 41 (03): : 142 - 149
12345