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Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm
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
发表期刊Journal of Central South University
ISSN2095-2899
2014
卷号21期号:2页码:550-557
收录类别SCI ; EI
EI收录号20141317505729
WOS记录号WOS:000331960100016
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标题词Science & Technology ; Technology
WOS类目Metallurgy & Metallurgical Engineering
关键词[WOS]FILTER
WOS研究方向Metallurgy & Metallurgical Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/14610
专题水下机器人研究室
通讯作者Liu KZ(刘开周)
作者单位1.State Key Laboratory of Robotics (Shenyang Institute of Automation, Chinese Academy of Sciences), Shenyang 110016, China
2.Graduate University of Chinese Academy of Sciences, Beijing 100049, China
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GB/T 7714
Liu KZ,Li J,Guo W,et al. Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm[J]. Journal of Central South University,2014,21(2):550-557.
APA Liu KZ,Li J,Guo W,Zhu PQ,&Wang XH.(2014).Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm.Journal of Central South University,21(2),550-557.
MLA Liu KZ,et al."Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm".Journal of Central South University 21.2(2014):550-557.
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