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题名: Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm
作者: Liu KZ(刘开周) ; Li J(李静) ; Guo W(郭威) ; Zhu PQ(祝普强) ; Wang XH(王晓辉)
作者部门: 水下机器人研究室
关键词: Algorithms ; Extended Kalman filters ; Navigation ; Navigation systems
刊名: Journal of Central South University
ISSN号: 2095-2899
出版日期: 2014
卷号: 21, 期号:2, 页码:550-557
收录类别: SCI ; EI
产权排序: 1
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.
语种: 英语
WOS记录号: WOS:000331960100016
WOS标题词: Science & Technology ; Technology
类目[WOS]: Metallurgy & Metallurgical Engineering
关键词[WOS]: FILTER
研究领域[WOS]: Metallurgy & Metallurgical Engineering
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14610
Appears in Collections:水下机器人研究室_期刊论文

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Recommended Citation:
刘开周;李静;郭威;祝普强;王晓辉.Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm,Journal of Central South University,2014,21(2):550-557
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文件名: Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm.pdf
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