[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(
)
无迹卡尔曼滤波在新型地形无源组合导航系统中的应用
)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
- 无迹卡尔曼滤波在新型地形无源组合导航系统中的应用
- 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.
- 为了提高自主水下航行器的导航精度, 提出了一种新型地形无源组合导航系统.根据水下环境特点和航行器导航高精度和低成本的要求, 采用捷联式惯性导航系统、地形辅助导航系统、多普勒速度声纳、电子磁罗经和利用UKF进行信息融合的导航计算机组成新型水下地形无源组合导航系统, 并给出了EKF线性滤波方程、UKF非线性滤波方程和导航传感器量测方程.对比仿真实验表明, 采用建议的传感器和UKF信息融合方式比采用EKF方式提高了水下航行器导航定位的精度.采用不同的导航传感器和UKF信息融合方法的地形无源组合导航系统可以有效地减小水下航行器导航位置误差, 提高组合导航的稳定性和精度.
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Memo
- Memo:
- Biographies: Wang Qi(1981—), male, graduate;Xu Xiaosu(corresponding author), male, doctor, professor, xxs@seu.edu.cn.