Application of Federated Filter to AUV Based on Terrain-Aided SINS

Qi Wang; Cheng Shan Qian; Zi Jia Zhang; Chang Song Yang

doi:10.4028/www.scientific.net/AMM.711.338

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 711Application of Federated Filter to AUV Based on...

Application of Federated Filter to AUV Based on Terrain-Aided SINS

Abstract:

To improve the navigation precision and reliability of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Federated Filter (FF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and Federated Filtering method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the Federated Filtering method is able to improve the long-time navigation precision and reliability, relative to the traditional Kalman Filtering method.

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Periodical:

Applied Mechanics and Materials (Volume 711)

Pages:

338-341

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.711.338

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Online since:

December 2014

Authors:

Qi Wang*, Cheng Shan Qian, Zi Jia Zhang, Chang Song Yang

Keywords:

Autonomous Underwater Vehicle, Federated Filter, Strapdown Inertial Navigation System, Terrain-Aided Navigation System

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* - Corresponding Author

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