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题名: An adaptive square-root unscented Kalman filter for underwater Vehicle navigation
作者: Lin YP(林燕平) ; Liu KZ(刘开周) ; Wang XL(王秀莲)
作者部门: 水下机器人研究室
会议名称: 11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
会议日期: August 3-6, 2014
会议地点: Tianjin, China
会议录: 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2014
页码: 717-722
收录类别: EI
ISBN号: 9781479939787
关键词: Mechanical engineering ; Mechatronics
摘要: In 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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15149
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
林燕平; 刘开周; 王秀莲.An adaptive square-root unscented Kalman filter for underwater Vehicle navigation.见:IEEE Computer Society.2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014,Washington, DC,2014,717-722
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文件名: An adaptive square-root unscented Kalman filter for underwater Vehicle navigation.pdf
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