Underwater terrain-aided navigation method based on improved Gaussian sum particle filtering

被引：12

作者：

Chen, Pengyun ^{[1
]}

Chang, Jianlong ^{[1
]}

Han, Yujie ^{[2
]}

Yuan, Meini ^{[1
]}

机构：

[1] North Univ China, Coll Mechatron Engn, Taiyuan 030051, Shanxi, Peoples R China

[2] AVIC Mfg Technol Inst, Beijing, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2019年 / 16卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Terrain-aided navigation; underwater environment; Gaussian sum particle filtering; RBF neural network;

D O I：

10.1177/1729881418821576

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

To solve the nonlinear Bayesian estimation problem in underwater terrain-aided navigation, a terrain-aided navigation method based on improved Gaussian sum particle filter is proposed. This method approximates the Bayesian function using multiple Gaussian components, and the components can be obtained by radial basis function neural network. This method has no resampling process, the particle depletion of particle filtering is eliminated in principle. The simulation shows that the proposed method has good matching performance, which is suitable for autonomous underwater vehicle navigation.

引用

页数：7

共 18 条

[1] Terrain aided underwater navigation using point mass and particle filters [J].

Anonsen, Kjetil Bergh ;

Hallingstad, Oddvar .

2006 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM, VOLS 1-3, 2006, :1027-+

[2]

[Anonymous], 2011, THESIS

[3] An Efficient Feature Selection and Classification Using Optimal Radial Basis Function Neural Network [J].

Balamurugan, S. Appavu Alias ;

Nancy, S. Gilbert .

INTERNATIONAL JOURNAL OF UNCERTAINTY FUZZINESS AND KNOWLEDGE-BASED SYSTEMS, 2018, 26 (05) :695-715

[4] Terrain navigation using Bayesian statistics [J].

Bergman, N ;

Ljung, L ;

Gustafsson, F .

IEEE CONTROL SYSTEMS MAGAZINE, 1999, 19 (03) :33-40

[5] Interference cancellation using radial basis function networks [J].

Cha, I ;

Kassam, SA .

SIGNAL PROCESSING, 1995, 47 (03) :247-268

[6]

Chen X., 2013, THESIS

[7] Terrain-aided Navigation for an Underwater Glider [J].

Claus, Brian ;

Bachmayer, Ralf .

JOURNAL OF FIELD ROBOTICS, 2015, 32 (07) :935-951

[8] Gaussian particle filtering [J].

Kotecha, JH ;

Djuric, PA .

IEEE TRANSACTIONS ON SIGNAL PROCESSING, 2003, 51 (10) :2592-2601

[9] Underwater terrain-aided navigation system based on combination matching algorithm [J].

Li, Peijuan ;

Sheng, Guoliang ;

Zhang, Xiaofei ;

Wu, Jingqiu ;

Xu, Baochun ;

Liu, Xing ;

Zhang, Yao .

ISA TRANSACTIONS, 2018, 78 :80-87

[10] Gaussian sum filtering methods for nonlinear non-Gaussian models [J].

Lin Q. ;

Yin J.-J. ;

Zhang J.-Q. ;

Hu B. .

Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2010, 32 (12) :2493-2499

← 1 2 →