Title: New Application of Federated Filter in INS/GPS/DVL Integrated Navigation System for AUV
Abstract: Aiming at the problem that autonomous underwater vehicle(AUV) navigation system can not fulfill the requirement of high precision for navigation and location because of the limitation of underwater environment,an inertial navigation system/global position system/doppler velocity log(INS/GPS/DVL) integrated navigation system fusing multi-sensor information is proposed.In this integrated system,the federated Kalman filter is adopted,and each navigation subsystem is optimized through dynamic information sharing coefficient to improve the performance of the integrated navigation system.Simulation results show that the present system can sufficiently extract the information of the navigation sensors,and effectively improve AUV navigation system′s precision and underwater localization ability.
Publication Year: 2010
Publication Date: 2010-01-01
Language: en
Type: article
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Cited By Count: 1
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