AUV cooperative navigation algorithm based on factor graph
文献类型：会议论文
| 作者 | Sun X(孙鑫)1,2,3; Xu HL(徐红丽)1,2 ; Jiang, Jing3
|
| 出版日期 | 2019 |
| 会议日期 | June 3-5, 2019 |
| 会议地点 | Nanchang, China |
| 关键词 | AUV cooperative navigation factor graph sum-product algorithm EKF |
| 页码 | 1053-1058 |
| 英文摘要 | To study the underwater positioning problem of autonomous underwater navigation (AUV) based on underwater acoustic ranging information. Combined with the data representation method of the factor graph, an AUV position estimation method based on the probabilistic graphical model is presented. The factor graph modeling method of the dynamic system is deduced in detail, and the sum-product algorithm is used to solve the parameters to obtain the estimation of the AUV position. Comparing the extended Kalman filter algorithm (EKF) with the proposed algorithm and using MATLAB simulation, the AUV cooperative navigation algorithm based on factor graph can estimate the position information of AUV more accurately and has better estimated effect in the case of weak noise. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-0105-7 |
| WOS记录号 | WOS:000555859001054 |
| 源URL | [http://ir.sia.cn/handle/173321/25783]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 通讯作者 | Sun X(孙鑫) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, China Academy of Science(CAS), Shenyang 110016, China 3.Shenyang Ligong University, Shenyang 110159, China |
| 推荐引用方式 GB/T 7714 | Sun X,Xu HL,Jiang, Jing. AUV cooperative navigation algorithm based on factor graph[C]. 见:. Nanchang, China. June 3-5, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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