Application of Kalman Filter in AUV Acoustic Navigation

Chang Lin Ji; Ning Zhang; Hai Hui Wang; Cui E Zheng

doi:10.4028/www.scientific.net/AMM.525.695

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 525Application of Kalman Filter in AUV Acoustic...

Application of Kalman Filter in AUV Acoustic Navigation

Abstract:

LBL(Long Baseline) positioning provides an important positioning and navigation method for AUV(Autonomous Underwater Vehicle)’s underwater task. Due to the complex underwater acoustic channel, and its poor anti-interference ability, a new feedback Kalman fiter algorithm was present in this paper. By combining travel time information with position information, the state of AUV was estimated accurately. By analyzing experimental results, it showed that the LBL positioning accuracy was improved, and the algorithm ensured AUV complete its autonomous navigation with high precision.

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Periodical:

Applied Mechanics and Materials (Volume 525)

Pages:

695-701

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.525.695

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Online since:

February 2014

Authors:

Chang Lin Ji, Ning Zhang, Hai Hui Wang, Cui E Zheng*

Keywords:

Acoustic Navigation, Autonomous Underwater Vehicle (AUV), Feedback, Kalman Filter, LBL

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* - Corresponding Author

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