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Alternative TitleAdaptive unscented Kalman filter (AUKF)-based deepwater robot long-baseline combined navigation method
刘开周; 李静; 郭威; 祝普强; 王晓辉
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to an adaptive unscented Kalman filter (AUKF)-based deepwater robot long-baseline combined navigation method. The method comprises the following steps of acquiring a deepwater robot initial absolute position as a track estimation starting point by a global positioning system, acquiring initial information of the deepwater robot, constructing an unscented Kalman filtering main filter, carrying out filtering estimation on the acquired initial information, constructing an unscented Kalman assistant filter, further carrying out filtering estimation on the information subjected to unscented Kalman main filter-based filtering estimation and carrying out data fusion on the acquired initial information by an AUKF method to obtain fused information. The AUKF-based deepwater robot long-baseline combined navigation method improves a navigation precision of a deepwater robot adopting a long-baseline positioning system and can smooth a course and depth needed by a deepwater robot control system and speed information under a carrier coordinate system.
PCT Attributes
Application Date2013-07-08
Date Available2017-11-14
Application NumberCN201310284939.0
Open (Notice) NumberCN104280026A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
刘开周,李静,郭威,等. 基于AUKF的深海机器人长基线组合导航方法[P]. 2015-01-14.
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