Title :
Design of Seamless Changing Method for AUV Integrated Navigation System
Author :
Guo, Zhen ; Hao, Yanling ; Sun, Feng ; Gao, Wei
Author_Institution :
Coll. of Autom., Harbin Eng. Univ. Harbin, Harbin
Abstract :
A seamless changing method for AUV integrated navigation system was proposed considering the SINS/DVL and Compass/DVL integrated navigation method have their own advantage for linear motion and curvilinear motion. Bearing consistent check combining with the measure remnant method was discussed as the maneuver checking method, and the adaptive Kalman filter was used by SINS/DVL integrated navigation system for the motion changing state. The simulation results confirm the new approach could improve the accuracy of the integrated navigation system, and enhance the motion capability for AUV.
Keywords :
adaptive Kalman filters; navigation; remotely operated vehicles; underwater vehicles; AUV integrated navigation system; Compass/DVL integrated navigation; SINS/DVL; adaptive Kalman filter; autonomous underwater vehicle; curvilinear motion; maneuver checking method; measure remnant method; motion changing state; seamless changing method; Computer science; Computer science education; Dead reckoning; Educational technology; Markov processes; Navigation; Noise measurement; Silicon compounds; Systems engineering education; Vectors; AUV; adpative Kalman filter; integrated navigation; seamless changing;
Conference_Titel :
Education Technology and Computer Science, 2009. ETCS '09. First International Workshop on
Conference_Location :
Wuhan, Hubei
Print_ISBN :
978-1-4244-3581-4
DOI :
10.1109/ETCS.2009.297
