UKF-based parameter estimation method for precise UUV navigation
文献类型：会议论文
| 作者 | Lin CL(林昌龙); Feng XS(封锡盛) ; Li YP(李一平)
|
| 出版日期 | 2010 |
| 会议名称 | 20th International Offshore and Polar Engineering Conference, ISOPE-2010 |
| 会议日期 | June 20-25, 2010 |
| 会议地点 | Beijing, China |
| 关键词 | Autonomous underwater vehicles Gyroscopes Kalman filters Metal analysis Navigation Nonlinear filtering Remotely operated vehicles Submersibles Underwater equipment Water craft |
| 页码 | 429-434 |
| 中文摘要 | This paper proposes a parameter estimation method for improving the navigation accuracy of an unmanned underwater vehicle, which is equipped with a doppler, a gyro, a depth sensor and a GPS, using an Unscented Kalman Filter (UKF). The error sources are analyzed, and then a kinematical model is constructed accordingly. Using an UKF, the doppler scaling factor and the rotational alignment offset between the doppler and gyro are accurately estimated. Simulations are carried out on a semi-physical platform and the result shows that the proposed method can effectively estimate these parameters. The effectiveness of the method is further verified by field experiments. Copyright © 2010 by The International Society of Offshore and Polar Engineers (ISOPE). |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | International Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy |
| 会议录 | Proceedings of the International Offshore and Polar Engineering Conference
 |
| 会议录出版者 | International Society of Offshore and Polar Engineers |
| 会议录出版地 | Cupertino, CA |
| 语种 | 英语 |
| ISSN号 | 1098-6189 |
| ISBN号 | 978-1-88065-377-7 |
| 源URL | [http://ir.sia.cn/handle/173321/7857]  |
| 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 | Lin CL,Feng XS,Li YP. UKF-based parameter estimation method for precise UUV navigation[C]. 见:20th International Offshore and Polar Engineering Conference, ISOPE-2010. Beijing, China. June 20-25, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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