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
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;
Conference_Titel :
Computer Science and Automation Engineering (CSAE), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-8727-1
DOI :
10.1109/CSAE.2011.5952606
