| 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)
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| Department | 水下机器人研究室 |
| Source Publication | Journal of Central South University
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| ISSN | 2095-2899 |
| 2014 | |
| Volume | 21Issue:2Pages:550-557 |
| Indexed By | SCI ; EI |
| EI Accession number | 20141317505729 |
| WOS ID | WOS:000331960100016 |
| Contribution Rank | 1 |
| Keyword | Algorithms Extended Kalman Filters Navigation Navigation Systems |
| Abstract | 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. |
| Language | 英语 |
| WOS Headings | Science & Technology ; Technology |
| WOS Subject | Metallurgy & Metallurgical Engineering |
| WOS Keyword | FILTER |
| WOS Research Area | Metallurgy & Metallurgical Engineering |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/14610 |
| Collection | 水下机器人研究室 |
| Corresponding Author | Liu KZ(刘开周) |
| Affiliation | 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 |
| 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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| Navigation system of（629KB） | 期刊论文 | 出版稿 | 开放获取 | ODC PDDL | View Download | |
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