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Mechanism analysis on large calibration errors of seabottom beacon how to improve navigation peformance
Li DD(李冬冬); Ji DX(冀大雄); Lin Y(林扬); Liu J(刘健)
作者部门海洋信息技术装备中心
会议名称2016 Sixth International Conference on Information Science and Technology (ICIST)
会议日期May 6-8, 2016
会议地点Dalian, China
会议录名称2016 Sixth International Conference on Information Science and Technology (ICIST)
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码157-162
收录类别EI ; CPCI(ISTP)
EI收录号20162902609743
WOS记录号WOS:000386981000030
产权排序1
ISSN号2164-4357
ISBN号978-1-5090-1220-6
关键词Large Calibration Error Integrated Navigation System Acoustic Navigation System State Estimation Online Correcting Calibration
摘要This paper introduces the mechanism analysis of the large beacon calibration errors how to decrease the navigation performance for the AUV (Autonomous Underwater Vehicle). Generally, when the vehicle using inertial navigation system is performing specific tasks in the water, the navigation error accumulates as time goes on; sometimes the navigation algorithm may fail because of a lot of disturbances, such as outliers, noisy measurement, missed measurement. In order to obtain the better navigation performance for underwater navigation system in real time, the underwater integrated navigation system has been constructed with the underwater acoustic and inertial navigation system. But it is hard to obtain the accurate initial beacon position for the acoustic system in the complex and unknown underwater environment, which will seriously deteriorate the navigation performance. For the sake of obtaining the better navigation performance, we analyze the reasons how the large calibration errors decrease the navigation performance. At last we also provide three feasible methods to online correct the calibration errors. The lake trial data further explain the mechanism analysis.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18673
专题海洋信息技术装备中心
通讯作者Li DD(李冬冬)
作者单位1.University of Chinese Academy of Sciences, Beijing State Key Laboratory of Robotics and Shenyang, Institute of Automation, Shenyang, China
2.Institute of Marine Robot and Ocean College, Zhejiang University, Zhoushan, China
3.State Key Laboratory of Robotics and Shenyang, Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Li DD,Ji DX,Lin Y,et al. Mechanism analysis on large calibration errors of seabottom beacon how to improve navigation peformance[C]. Piscataway, NJ, USA:IEEE,2016:157-162.
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