Strong Tracking Filter Based on Extended Kalman Filter for Data Processing of Underwater Vehicle
A strong tracking filter based on suboptimal fading extended Kalman filter was proposed to ensure the perception for the motion state of underwater vehicles accurate in the paper. For the uncertainty of nonlinear system model, the strong tracking filter theory was introduced, orthogonality principle was put forward. Then suboptimal fading factor was pulled in, and extended Kalman filter for nonlinear system was established. The strong tracking filter was applied to data processing of underwater vehicle, and results indicate that it can effectively improve the accuracy and robustness of underwater navigation information.
Helen Zhang, Gang Shen and David Jin
Y. Li et al., "Strong Tracking Filter Based on Extended Kalman Filter for Data Processing of Underwater Vehicle", Advanced Materials Research, Vols. 219-220, pp. 569-573, 2011