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An Integrated Navigation Algorithm for AUV Based on Pseudo-range Measurements and Error Estimation
Wang YQ(王轶群); Xu CH(徐春晖); Xu HX(徐会希); Zhao HY(赵宏宇); Liu J(刘健)
Department水下机器人研究室
Conference Name2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Source PublicationProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages1625-1630
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171403534792
WOS IDWOS:000405724600273
Contribution Rank1
ISBN978-1-5090-4363-7
Abstract

The Long Baseline (LBL) system is very important to precisely localize autonomous underwater vehicles (AUVs) close to the sea bottom in deep water. But the calibration error of the LBL beacons and the pseudo-range measurement caused by the motivation of the AUV, both them dilute the accuracy of LBL acoustic position. This paper proposes a quantitative description of the calibration error of beacons and pseudo-range how they reduce the LBL acoustic position precise. And then this paper proposes an integrated navigation algorithm for AUV, which integrates inertial navigation and LBL acoustic location to reduce the influence of the calibration errors of beacons and pseudo-range by online calibrating the beacon location errors and compensating the motivation of AUV to pseudo-range model. We name this algorithm as Pseudo-range and SLAM of beacons EKF (P-SLAM EKF). Through the sea trials of Qianlong-1, our algorithm proves very reliable and effective.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19685
Collection水下机器人研究室
Corresponding AuthorWang YQ(王轶群)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
2.Shenyang Institute of Automation Chinese Acad. of Sciences, China
Recommended Citation
GB/T 7714
Wang YQ,Xu CH,Xu HX,et al. An Integrated Navigation Algorithm for AUV Based on Pseudo-range Measurements and Error Estimation[C]. New York:IEEE,2016:1625-1630.
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