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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)
Department海洋信息技术装备中心
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2016
Volume13Issue:3Pages:1-15
Indexed BySCI ; EI
EI Accession number20165003112111
WOS IDWOS:000453589000001
Contribution Rank1
Funding OrganizationNational Science Foundation of China (51309215).
KeywordAuv Ekf Integrated Navigation System Beacons Multi-model Estimation
AbstractA 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordSOCIAL-INTERACTION ; MOVING OBJECT ; FEMALE RATS ; ROBOT ; BEHAVIOR ; ANXIETY ; FEAR ; AVOIDANCE ; EMOTION ; SYSTEM
WOS Research AreaRobotics
Citation statistics
Cited Times:17[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17644
Collection海洋信息技术装备中心
Corresponding AuthorJi DX(冀大雄)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institute of Marine Robot, Ocean College, Zhejiang University, Zhoushan, China
Recommended Citation
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(3):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(3),1-15.
MLA Li DD,et al."A Multi-model EKF Integrated Navigation Algorithm for Deep Water AUV".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13.3(2016):1-15.
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