Improved Unscented Kalman Filter Based on Decimation in Frequency Domain Fast Fourier Transform for Attitude Estimation Applied to Underwater Gliders

Hao Qian Huang; Xi Yuan Chen; Hu Liu; Yuan Xu

doi:10.4028/www.scientific.net/AMM.556-562.4372

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 556-562Improved Unscented Kalman Filter Based on...

Improved Unscented Kalman Filter Based on Decimation in Frequency Domain Fast Fourier Transform for Attitude Estimation Applied to Underwater Gliders

Abstract:

In order to estimate the attitude fast and accurately for the underwater glider using the lower cost and lower power underwater navigation system, this paper designs a new underwater navigation system which is made up of the inertial sensors aided the magnetometer and proposes an improved unscented Kalman filter based on decimation in frequency domain fast Fourier transform (UKF-DF). UKF-DF makes better use of the estimate advantage of UKF in the nonlinear system, and in this basis DIF-FFT is integrated into UKF to increase the speed of calculation. Therefore, the attitude of a glider can be estimated fast and accurately. The real vehicle experiment is done to assess the performance of the proposed UKF-DF algorithm, the experimental results show that the attitude convergence of UKF-DF is better than EKF (extended Kalman filter) and the attitude estimated by UKF-DF is more precise than EKF.

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Periodical:

Applied Mechanics and Materials (Volumes 556-562)

Pages:

4372-4375

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.556-562.4372

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Online since:

May 2014

Authors:

Hao Qian Huang, Xi Yuan Chen*, Hu Liu, Yuan Xu

Keywords:

Decimation in Frequency Domain Fast Fourier Transform (DIF-FFT), Inertial Navigation System (INS), Underwater Glider Navigation, Unscented Kalman Filter (UKF)

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