| Research on the Navigation System of A Class of Underwater Vehicle Based on USBL | |
Liu KZ(刘开周) ; Li J(李静); Guo W(郭威); Zhu PQ(祝普强); Zeng JB(曾俊宝); Wang XH(王晓辉)
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| Department | 水下机器人研究室 |
| Conference Name | MTS/IEEE OCEANS Conference |
| Conference Date | September 19-22, 2011 |
| Conference Place | Kona, HI |
| Author of Source | Marine Technol Soc (MTS), IEEE, OES |
| Source Publication | OCEANS 2011 |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2011 | |
| Pages | 6 pp. |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20120314693545 |
| WOS ID | WOS:000299005800135 |
| Contribution Rank | 1 |
| ISBN | 978-0-933957-39-8 |
| Keyword | Human Occupied Vehicle (Hov) Underwater Vehicle Navigation System Unscented Kalman Filter (Ukf) |
| Abstract | This paper presents a novel unscented Kalman filter (UKF) used for navigation of Human Occupied Vehicle (HOV) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL), a Doppler Velocity Log (DVL), a fiber optic gyrometer and a depth sensor. The HOV motion and the USBL observations are highly non-linear processes which contain unknown noise. A UKF is therefore chosen as a suitable data fusion technique. For the low rate positional measurements of USBL and the drift error of the DVL, the presented UKF fuses the information from these sensors to produce a more accurate estimate of three-dimensional position, orientation (heading), and velocity of the HOV. MATLAB simulations conducted with respect to the data obtained from previous sea trial illustrate the effectiveness of our proposed method. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/7844 |
| Collection | 水下机器人研究室 |
| Affiliation | 1.Robotics State Key Laboratory, Shenyang Institute of Automation, CAS, Shenyang Liaoning, China 2.Graduate School, Chinese Academy of Sciences, Beijing, China |
| Recommended Citation GB/T 7714 | Liu KZ,Li J,Guo W,et al. Research on the Navigation System of A Class of Underwater Vehicle Based on USBL[C]//Marine Technol Soc (MTS), IEEE, OES. Piscataway, NJ, USA:IEEE,2011:6 pp.. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| HYQW000993.pdf（726KB） | 开放获取 | CC BY-NC-SA | View Application Full Text | |||
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