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Research on Error Correction methods for the Integrated Navigation System of Deep-sea Human Occupied Vehicles
Liu KZ(刘开周); Wang GQ(王冠群); Huang Y(黄琰); Zhao Y(赵洋); Cui SG(崔胜国); Wang XH(王晓辉)
Department水下机器人研究室
Conference NameOCEANS 2015 MTS/IEEE
Conference DateOctober 19-22, 2015
Conference PlaceWashington, DC
Source PublicationOCEANS 2015 MTS/IEEE
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1-5
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161702299211
WOS IDWOS:000380550000326
Contribution Rank1
KeywordHov (Human Occupied Vehicle) Integrated Navigation System Lbl (Long Base Line) Motion Sensors Dvl (Doppler Velocity Log) Ukf (Unscented Kalman Filter)
AbstractBecause electromagnetic wave attenuates fast in water, some land navigation equipment cannot be used underwater, so Long Base Line, Doppler Velocity Log and Motion sensor become the main mean of navigation and positioning for HOV. This paper puts forward the corresponding errors compensation methods for the instruments and system that mainly used underwater in order to improve the navigation and positioning accuracy. In this paper, UKF is selected as filtering algorithm to fuse the data after compensation. At last, the numerical experiments showed that the propose approach here is applicable and effective.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17508
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, China
2.School of Information Science and Engineering, Northeastern University, Shenyang, China
3.Chengde Petroleum College, Chengde, China
Recommended Citation
GB/T 7714
Liu KZ,Wang GQ,Huang Y,et al. Research on Error Correction methods for the Integrated Navigation System of Deep-sea Human Occupied Vehicles[C]. Piscataway, NJ, USA:IEEE,2015:1-5.
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