SIA OpenIR  > 水下机器人研究室
An adaptive square-root unscented Kalman filter for underwater Vehicle navigation
Lin YP(林燕平); Liu KZ(刘开周); Wang XL(王秀莲)
Department水下机器人研究室
Conference Name11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Conference DateAugust 3-6, 2014
Conference PlaceTianjin, China
Source Publication2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2014
Pages717-722
Indexed ByEI ; CPCI(ISTP)
EI Accession number20143818167253
WOS IDWOS:000366848100124
Contribution Rank1
ISBN978-1-4799-3978-7
KeywordMechanical Engineering Mechatronics
AbstractIn order to increase the approximation accuracy of the state estimate of nonlinear systems and to guarantee numerical stability of the unscented Kalman filter (UKF), a novel adaptive square-root unscented Kalman filter (ASRUKF) based on modified Sage-Husa noise statistics estimator is proposed. The new adaptive filter method with adaptability to statistical characteristic of noise is able to compensate the lack of a priori knowledge of the system's noise statistics. A six-degree-of-freedom dynamic model is introduced to denote the motion model of Human Occupied Vehicle (HOV) in the water, while the adaptive SRUKF is employed for off-line estimation of the state of HOV. Tests are conducted with respect to the data obtained from previous sea trial, and the results are compared with those obtained by normal UKF and SRUKF to indicate its effectiveness and improvements. © 2014 IEEE.
Language英语
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15149
Collection水下机器人研究室
Corresponding AuthorLin YP(林燕平)
Affiliation1.School of Information Science and Engineering, Shenyang Ligong University, Shenyang, Liaoning Province, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Lin YP,Liu KZ,Wang XL. An adaptive square-root unscented Kalman filter for underwater Vehicle navigation[C]. Washington, DC:IEEE Computer Society,2014:717-722.
Files in This Item: Download All
File Name/Size DocType Version Access License
An adaptive square-r(285KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Lin YP(林燕平)]'s Articles
[Liu KZ(刘开周)]'s Articles
[Wang XL(王秀莲)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Lin YP(林燕平)]'s Articles
[Liu KZ(刘开周)]'s Articles
[Wang XL(王秀莲)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Lin YP(林燕平)]'s Articles
[Liu KZ(刘开周)]'s Articles
[Wang XL(王秀莲)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: An adaptive square-root unscented Kalman filter for underwater Vehicle navigation.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.