Title :
Research on multi-sensor fusion of underwater robot navigation system
Author :
Hong, Zhang ; Zhen-hua, Song
Author_Institution :
Electr. Eng. Coll., Northeast Dianli Univ., Jilin, China
Abstract :
A general design method of federated Kalman filter based on multi-sensor fusion is introduced, and applied in integrated navigation system including SINS, electronic compass and depth gauge for underwater robot integrated navigation system. We adopts federal filtering NR structure of integrated navigation which establishes a SINS / electronic compass sub-filter, SINS / depth gauge sub-filter and main filter. Simulation results show that the federal filter is feasible for integrated navigation. It ensures not only fault tolerance and real-time at the same time, but also meets the system accuracy.
Keywords :
Kalman filters; fault tolerance; mobile robots; path planning; sensor fusion; underwater vehicles; SINS; depth gauge sub-filter; electronic compass sub-filter; fault tolerance; federal filtering NR structure; federated Kalman filter; integrated navigation system; multisensor fusion; real-time system; underwater robot navigation system; Equations; Error correction; Fault tolerant systems; Filtering; Filters; Markov processes; Navigation; Robots; Silicon compounds; White noise;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420720
