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Comparing of LPC-EKF, LPC-UKF in UUV bearings-only tracking systems
Xu JB(徐进宝); Ren SZ(任申真); Feng XS(封锡盛); Lin CL(林昌龙)
Department水下机器人研究室
Conference NameOCEANS 2010 IEEE - Sydney
Conference DateMay 24-27, 2010
Conference PlaceSydney, NSW, Australia
Source PublicationOCEANS 2010 IEEE - Sydney
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2010
Pages6 pp.
Indexed ByEI
EI Accession number20104713403720
Contribution Rank1
ISBN978-1-4244-5221-7
AbstractUnmanned underwater vehicles have various missions within civilian, military and academic sectors. They have the ability to explore areas unavailable to manned assets and to perform duties that are risky to humans. In particular, UUVs have the ability to perform bearings-only tracking in shallow areas near shorelines. This article compares a Logarithmic Polar Coordinates EKF (LPC-EKF) and Logarithmic Polar UKF (LPC-UKF) for the estimation problem. Its objective is to track the kinematics (position, velocity and course) of a moving target using noise-corrupted bearing measurements.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7801
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, Liaoning Province, China
2.School of Graduate, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Xu JB,Ren SZ,Feng XS,et al. Comparing of LPC-EKF, LPC-UKF in UUV bearings-only tracking systems[C]. Piscataway, NJ, USA:IEEE,2010:6 pp..
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