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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)
Department水下机器人研究室
Conference NameMTS/IEEE OCEANS Conference
Conference DateSeptember 19-22, 2011
Conference PlaceKona, HI
Author of SourceMarine Technol Soc (MTS), IEEE, OES
Source PublicationOCEANS 2011
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2011
Pages6 pp.
Indexed ByEI ; CPCI(ISTP)
EI Accession number20120314693545
WOS IDWOS:000299005800135
Contribution Rank1
ISBN978-0-933957-39-8
KeywordHuman Occupied Vehicle (Hov) Underwater Vehicle Navigation System Unscented Kalman Filter (Ukf)
AbstractThis 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
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7844
Collection水下机器人研究室
Affiliation1.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..
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