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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)
作者部门水下机器人研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码1625-1630
收录类别EI ; CPCI(ISTP)
EI收录号20171403534792
WOS记录号WOS:000405724600273
产权排序1
ISBN号978-1-5090-4363-7
摘要

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.

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/173321/19685
专题水下机器人研究室
通讯作者Wang YQ(王轶群)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
2.Shenyang Institute of Automation Chinese Acad. of Sciences, China
推荐引用方式
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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