[1] Wang Qi, Xu Xiaosu,. Application of unscented Kalman filterto novel terrain passive integrated navigation system [J]. Journal of Southeast University (English Edition), 2007, 23 (4): 545-549. [doi:10.3969/j.issn.1003-7985.2007.04.014]

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Application of unscented Kalman filterto novel terrain passive integrated navigation system()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

23

Issue:

2007 4

Page:

545-549

Research Field:

Electromagnetic Field and Microwave Technology

Publishing date:

2007-12-30

Info

Title:

Application of unscented Kalman filterto novel terrain passive integrated navigation system

Author(s):

Wang Qi;  Xu Xiaosu

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Keywords:

autonomous underwater vehicle;  strapdown inertial navigation system;  unscented Kalman filter;  extended Kalman filter;  terrain passive integrated navigation system

PACS:

TN967.2

DOI:

10.3969/j.issn.1003-7985.2007.04.014

Abstract:

To improve the navigation accuracy of an autonomous underwater vehicle(AUV), a novel terrain passive integrated navigation system(TPINS)is presented.According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system(SINS), the terrain reference navigation system(TRNS), the Doppler velocity sonar(DVS), the magnetic compass and the navigation computer utilizing the unscented Kalman filter(UKF)to fuse the navigation information from various navigation sensors.Linear filter equations for the extended Kalman filter(EKF), nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed.It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF.The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.

References:

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Memo

Memo:

Biographies: Wang Qi(1981—), male, graduate;Xu Xiaosu(corresponding author), male, doctor, professor, xxs@seu.edu.cn.

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