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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)
Department水下机器人研究室
Source PublicationJournal of Central South University
ISSN2095-2899
2014
Volume21Issue:2Pages:550-557
Indexed BySCI ; EI
EI Accession number20141317505729
WOS IDWOS:000331960100016
Contribution Rank1
KeywordAlgorithms Extended Kalman Filters Navigation Navigation Systems
AbstractInherent 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectMetallurgy & Metallurgical Engineering
WOS KeywordFILTER
WOS Research AreaMetallurgy & Metallurgical Engineering
Citation statistics
Cited Times:8[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14610
Collection水下机器人研究室
Corresponding AuthorLiu KZ(刘开周)
Affiliation1.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
Recommended Citation
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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