Application of Kalman Filter in AUV Acoustic Navigation

被引：6
|
作者：
Ji, Changlin [1 ,2 ]
Zhang, Ning [3 ]
Wang, Haihui [3 ]
Zheng, Cuie [1 ,2 ]
机构：
[1] Harbin Engn Univ, Sci & Technol Underwater Acoust Lab, Harbin 150001, Peoples R China
[2] Harbin Engn Univ, Coll Underwater Acoust Engn, Harbin 150001, Peoples R China
[3] CNOOC deepwater Dev Ltd, Shenzhen 518067, Peoples R China
来源：
DEVELOPMENT OF INDUSTRIAL MANUFACTURING | 2014年 / 525卷
关键词：
AUV; acoustic navigation; LBL; Kalman filter; feedback;
D O I：
10.4028/www.scientific.net/AMM.525.695
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
LBL(Long Baseline) positioning provides an important positioning and navigation method for AUV(Autonomous Underwater Vehicle)'s underwater task. Due to the complex underwater acoustic channel, and its poor anti-interference ability, a new feedback Kalman fiter algorithm was present in this paper. By combining travel time information with position information, the state of AUV was estimated accurately. By analyzing experimental results, it showed that the LBL positioning accuracy was improved, and the algorithm ensured AUV complete its autonomous navigation with high precision.
引用
收藏
页码：695 / +
页数：2
相关论文
共 50 条
  • [1] Adaptive Robust Unscented Kalman Filter for AUV Acoustic Navigation
    Wang, Junting
    Xu, Tianhe
    Wang, Zhenjie
    SENSORS, 2020, 20 (01)
  • [2] The Application of AUV Navigation Based on Cubature Kalman Filter
    Duan, Huan
    Guo, Jia
    Song, Yan
    Sha, Qixin
    Jiang, Jingtao
    Yan, Tianhong
    Mu, Xiaokai
    He, Bo
    2017 IEEE UNDERWATER TECHNOLOGY (UT), 2017,
  • [3] The Application of AUV Navigation Based on Adaptive Extended Kalman Filter
    Shao, Xinhui
    He, Bo
    Guo, Jia
    Yan, Tianhong
    OCEANS 2016 - SHANGHAI, 2016,
  • [4] EXTENDED KALMAN FILTER APPLIED IN THE NAVIGATION OF AN AUV
    Cardenas Vivaneo, Persing Junior
    de Barros, Ettore Apolonio
    INGENIUS-REVISTA DE CIENCIA Y TECNOLOGIA, 2015, (13): : 12 - 19
  • [5] A new AUV navigation system exploiting unscented Kalman filter
    Allotta, B.
    Caiti, A.
    Costanzi, R.
    Fanelli, F.
    Fenucci, D.
    Meli, E.
    Ridolfi, A.
    OCEAN ENGINEERING, 2016, 113 : 121 - 132
  • [6] Sea currents estimation during AUV navigation using Unscented Kalman Filter
    Allotta, Benedetto
    Costanzi, Riccardo
    Fanelli, Francesco
    Monni, Niccolo
    Paolucci, Libero
    Ridolfi, Alessandro
    IFAC PAPERSONLINE, 2017, 50 (01): : 13668 - 13673
  • [7] A real-time unscented Kalman filter on manifolds for challenging AUV navigation
    Cantelobre, Theophile
    Chahbazian, Clement
    Croux, Arnaud
    Bonnabel, Silvere
    2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 2309 - 2316
  • [8] Unscented Kalman Filter application in personal navigation
    Pasek, Przemyslaw
    Kaniewski, Piotr
    RADIOELECTRONIC SYSTEMS CONFERENCE 2019, 2020, 11442
  • [9] Application of AUV Navigation Based on Deterministic Particle Filter Algorithm
    Fei, Xiaoyan
    Shen, Yue
    Yan, Tianhong
    OCEANS 2018 MTS/IEEE CHARLESTON, 2018,
  • [10] Application of AUV Navigation Based on SVD Unscented Particle Filter
    Yin, Feng
    He, Bo
    Feng, Chen
    Guo, Shuai
    Zhang, Xin
    Liu, Hanming
    Mu, Xiaokai
    Lv, Pengfei
    Yan, Tianhong
    2019 IEEE UNDERWATER TECHNOLOGY (UT), 2019,
12345