• DocumentCode
    547285
  • Title

    Research for navigation technology of underwater robot based on UKF federated filter

  • Author

    Aijun, Zhang ; Yashu, Liu

  • Author_Institution
    Sch. of Mech. Eng., Nanjing Univ. of Sci. & Technol., Nanjing, China
  • Volume
    2
  • fYear
    2011
  • fDate
    10-12 June 2011
  • Firstpage
    729
  • Lastpage
    733
  • Abstract
    Due to the precision faults of underwater robot navigation and position which is caused by prior statistical characteristics and actual inconsistently, UKF federated filtering algorithm is put forward. Federated filter is established for SINS/DYL/DR integrated navigation system. Use UKF localized filtering. SINS/DYL/DR simulation experiments shows: this algorithm confirms higher filtering precision and robustness.
  • Keywords
    Kalman filters; fault tolerance; mobile robots; path planning; statistical analysis; underwater vehicles; DR; DVL; SINS; UKF federated filter; localized filtering; precision faults; prior statistical characteristics; robustness; underwater robot navigation; SINS; UKF; federated filter; navigation; underwater robot;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Computer Science and Automation Engineering (CSAE), 2011 IEEE International Conference on
  • Conference_Location
    Shanghai
  • Print_ISBN
    978-1-4244-8727-1
  • Type

    conf

  • DOI
    10.1109/CSAE.2011.5952606
  • Filename
    5952606
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=547285