Research on the Navigation System of A Class of Underwater Vehicle Based on USBL
文献类型：会议论文
| 作者 | Liu KZ(刘开周) ; Li J(李静); Guo W(郭威); Zhu PQ(祝普强); Zeng JB(曾俊宝); Wang XH(王晓辉)
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| 出版日期 | 2011 |
| 会议名称 | MTS/IEEE OCEANS Conference |
| 会议日期 | September 19-22, 2011 |
| 会议地点 | Kona, HI |
| 关键词 | Human Occupied Vehicle (HOV) underwater vehicle navigation system unscented Kalman filter (UKF) |
| 页码 | 6 pp. |
| 中文摘要 | This paper presents a novel unscented Kalman filter (UKF) used for navigation of Human Occupied Vehicle (HOV) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL), a Doppler Velocity Log (DVL), a fiber optic gyrometer and a depth sensor. The HOV motion and the USBL observations are highly non-linear processes which contain unknown noise. A UKF is therefore chosen as a suitable data fusion technique. For the low rate positional measurements of USBL and the drift error of the DVL, the presented UKF fuses the information from these sensors to produce a more accurate estimate of three-dimensional position, orientation (heading), and velocity of the HOV. MATLAB simulations conducted with respect to the data obtained from previous sea trial illustrate the effectiveness of our proposed method. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Marine Technol Soc (MTS), IEEE, OES |
| 会议录 | OCEANS 2011
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-0-933957-39-8 |
| WOS记录号 | WOS:000299005800135 |
| 源URL | [http://ir.sia.cn/handle/173321/7844]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Liu KZ,Li J,Guo W,et al. Research on the Navigation System of A Class of Underwater Vehicle Based on USBL[C]. 见:MTS/IEEE OCEANS Conference. Kona, HI. September 19-22, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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