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UKF-based parameter estimation method for precise UUV navigation
Lin CL(林昌龙); Feng XS(封锡盛); Li YP(李一平)
Department水下机器人研究室
Conference Name20th International Offshore and Polar Engineering Conference, ISOPE-2010
Conference DateJune 20-25, 2010
Conference PlaceBeijing, China
Author of SourceInternational Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy
Source PublicationProceedings of the International Offshore and Polar Engineering Conference
PublisherInternational Society of Offshore and Polar Engineers
Publication PlaceCupertino, CA
2010
Pages429-434
Indexed ByEI
EI Accession number20103613220514
Contribution Rank1
ISSN1098-6189
ISBN978-1-88065-377-7
KeywordAutonomous Underwater Vehicles Gyroscopes Kalman Filters Metal Analysis Navigation Nonlinear Filtering Remotely Operated Vehicles Submersibles Underwater Equipment Water Craft
AbstractThis paper proposes a parameter estimation method for improving the navigation accuracy of an unmanned underwater vehicle, which is equipped with a doppler, a gyro, a depth sensor and a GPS, using an Unscented Kalman Filter (UKF). The error sources are analyzed, and then a kinematical model is constructed accordingly. Using an UKF, the doppler scaling factor and the rotational alignment offset between the doppler and gyro are accurately estimated. Simulations are carried out on a semi-physical platform and the result shows that the proposed method can effectively estimate these parameters. The effectiveness of the method is further verified by field experiments. Copyright © 2010 by The International Society of Offshore and Polar Engineers (ISOPE).
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7857
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
Lin CL,Feng XS,Li YP. UKF-based parameter estimation method for precise UUV navigation[C]//International Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy. Cupertino, CA:International Society of Offshore and Polar Engineers,2010:429-434.
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