SIA OpenIR  > 海洋信息技术装备中心
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)
Department海洋信息技术装备中心
Conference Name2016 Sixth International Conference on Information Science and Technology (ICIST)
Conference DateMay 6-8, 2016
Conference PlaceDalian, China
Source Publication2016 Sixth International Conference on Information Science and Technology (ICIST)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages157-162
Indexed ByEI ; CPCI(ISTP)
EI Accession number20162902609743
WOS IDWOS:000386981000030
Contribution Rank1
ISSN2164-4357
ISBN978-1-5090-1220-6
KeywordLarge Calibration Error Integrated Navigation System Acoustic Navigation System State Estimation Online Correcting Calibration
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18673
Collection海洋信息技术装备中心
Corresponding AuthorLi DD(李冬冬)
Affiliation1.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
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Mechanism analysis o(361KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Li DD(李冬冬)]'s Articles
[Ji DX(冀大雄)]'s Articles
[Lin Y(林扬)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Li DD(李冬冬)]'s Articles
[Ji DX(冀大雄)]'s Articles
[Lin Y(林扬)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Li DD(李冬冬)]'s Articles
[Ji DX(冀大雄)]'s Articles
[Lin Y(林扬)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Mechanism analysis on large calibration errors of seabottom beacon how to improve navigation peformace.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.