Paper Title:
Application of Modified Self-Adaptive Kalman Filter in Integrated Navigation System of Autonomous Underwater Vehicle
  Abstract

Owing to the complex operating environment of underwater vehicles, many uncertainties of sensors data, big noises of sensors , low precision and high rate of wild points of underwater acoustic sensors, data processing of motion sensors data for underwater vehicle navigation system becomes extremely important. The integrated navigation system of autonomous underwater vehicle based on dead-reckoning is introduced. An modified adaptive Kalman filter is adopted for underwater vehicle sensors information data processing. Experimental results show that the modified self-adaptive Kalman filter(SAKF) is effective, and can meet the underwater robots perform a variety of tasks in the navigation and positioning accuracy..

  Info
Periodical
Edited by
Yiyi Zhouzhou and Qi Luo
Pages
298-303
DOI
10.4028/www.scientific.net/AMM.79.298
Citation
Y. S. Sun, W. J. Li, Z. B. Qin, H. L. Chen, J. Q. Li, "Application of Modified Self-Adaptive Kalman Filter in Integrated Navigation System of Autonomous Underwater Vehicle", Applied Mechanics and Materials, Vol. 79, pp. 298-303, 2011
Online since
July 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Jian An Xu, Gui Fu Liu, Wen De Zhao, Ming Jun Zhang
Abstract:This paper investigates the application of indirect adaptive generalized predictive control to an autonomous underwater vehicle motion. A...
837
Authors: Yan Ping He
Abstract:The adaptive noise cancellation system by LMS algorithm need not to know the prior knowledge of input speech signal and noise, and can carry...
453
Authors: Yan Ping He, Hai Dong Zhang
Chapter2: Material Science, Environment Science and Engineering
Abstract:The paper introduces the principle and structure of adaptive filter based on LMS algorithm, studies a design scheme of a single frequency...
299
Authors: Rui Mei Lian
Abstract:An amended LMS Newton algorithm is proposed which create the nonlinear functional relation of the step factor μ and the error signal e...
458
Authors: Xiong Cai, An Ping Qiu, Wei Xing Qian, Qin Shi
Chapter 1: Materials Behavior
Abstract:The various random noises in MEMS gyro are the main factor affecting the accuracy. In accordance with the property of its noise, traditional...
127