A Novel Algorithm of Improved Cubature Unscented Kalman Filter Based on the Model of Magnetometer for Underwater Glider Navigation System

被引：0
|
作者：
Huang, Haoqian [1 ]
Chen, Jianfeng [2 ]
Lu, Tianhang [1 ]
Zhou, Jun [1 ]
Qu, Chen [1 ]
Hong, Kangrui [1 ]
Huang, Tie [1 ]
机构：
[1] Hohai Univ, Coll Energy & Elect Engn, Nanjing, Jiangsu, Peoples R China
[2] Jiangsu Univ, Automot Engn Res Inst, Zhenjiang, Peoples R China
来源：
PROCEEDINGS 2018 33RD YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC) | 2018年
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
underwater glider; underwater navigation; inertial navigation system (INS); cubature unscented Kalman filter; SCHEME; VEHICLE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The inertial navigation system (INS) aided the magnetic compass (MCP) is designed for the underwater glider to achieve higher accuracy, higher stability and faster tracking even if sudden change of attitudes. Considering the tradeoff the advantages and disadvantages of all kinds of algorithms used before, the algorithm of improved cubature unscented Kalman filter (ICUKF) based on the model of magnetometer is proposed. In the vehicle dynamic experiments, the performance of ICUKF based on the model of magnetometer is verified. The ICUKF has a good effect in the aspects of accuracy, stability and tracking even if the sudden change of attitude.
引用
收藏
页码：281 / 286
页数：6
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