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
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