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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)
作者部门水下机器人研究室
会议名称OCEANS 2015 MTS/IEEE
会议日期October 19-22, 2015
会议地点Washington, DC
会议录名称OCEANS 2015 MTS/IEEE
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1-5
收录类别EI ; CPCI(ISTP)
EI收录号20161702299211
WOS记录号WOS:000380550000326
产权排序1
关键词Hov (Human Occupied Vehicle) Integrated Navigation System Lbl (Long Base Line) Motion Sensors Dvl (Doppler Velocity Log) Ukf (Unscented Kalman Filter)
摘要Because 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17508
专题水下机器人研究室
通讯作者Liu KZ(刘开周)
作者单位1.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
推荐引用方式
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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