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A Multi-model EKF Integrated Navigation Algorithm for Deep Water AUV
Li DD(李冬冬); Ji DX(冀大雄); Liu J(刘健); Lin Y(林扬)
作者部门海洋信息技术装备中心
关键词Auv Ekf Integrated Navigation System Beacons Multi-model Estimation
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2016
卷号13期号:1页码:1-15
收录类别SCI ; EI
EI收录号20165003112111
WOS记录号WOS:000368630300001
产权排序1
资助机构National Science Foundation of China (51309215).
摘要A novel integrated navigation algorithm, multi-model EKF (Extended Kalman Filter) integrated navigation algorithm, is presented in this paper for the deep water autonomous underwater vehicle. When a deep water vehicle is performing tasks in the deep sea, the navigation error will accumulate over time, if it relies solely on its own inertial navigation system. In order to get a more accurate position for the deep water vehicle online, an integrated navigation system is constructed by adding the acoustic navigation system. And because it is difficult to establish the kinematic model and the measurement model accurately for the deep water vehicle in the underwater environment, we propose the Multi-model EKF integrated navigation algorithm, and estimate the measurement errors of beacons online. Then we can estimate the position of the deep water vehicle more accurately. The new algorithm has been tested by both analyses and field experiment data (the lake and sea trial data), and results show that the multi-model EKF integrated navigation algorithm proposed in this paper significantly improves the navigation accuracy for the deep water vehicle.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]SOCIAL-INTERACTION ; MOVING OBJECT ; FEMALE RATS ; ROBOT ; BEHAVIOR ; ANXIETY ; FEAR ; AVOIDANCE ; EMOTION ; SYSTEM
WOS研究方向Robotics
引用统计
被引频次:9[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17644
专题海洋信息技术装备中心
通讯作者Ji DX(冀大雄)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institute of Marine Robot, Ocean College, Zhejiang University, Zhoushan, China
推荐引用方式
GB/T 7714
Li DD,Ji DX,Liu J,et al. A Multi-model EKF Integrated Navigation Algorithm for Deep Water AUV[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13(1):1-15.
APA Li DD,Ji DX,Liu J,&Lin Y.(2016).A Multi-model EKF Integrated Navigation Algorithm for Deep Water AUV.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13(1),1-15.
MLA Li DD,et al."A Multi-model EKF Integrated Navigation Algorithm for Deep Water AUV".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13.1(2016):1-15.
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