Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm
文献类型：期刊论文
| 作者 | Liu KZ(刘开周) ; Li J(李静); Guo W(郭威); Zhu PQ(祝普强); Wang XH(王晓辉)
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| 刊名 | Journal of Central South University
 |
| 出版日期 | 2014 |
| 卷号 | 21期号:2页码:550-557 |
| 关键词 | Algorithms Extended Kalman filters Navigation Navigation systems |
| ISSN号 | 2095-2899 |
| 产权排序 | 1 |
| 通讯作者 | 刘开周 |
| 中文摘要 | Inherent flaws in the extended Kalman filter (EKF) algorithm were pointed out and unscented Kalman filter (UKF) was put forward as an alternative. Furthermore, a novel adaptive unscented Kalman filter (AUKF) based on innovation was developed. The three data-fusing approaches were analyzed and evaluated in a mathematically rigorous way. Field experiments conducted in lake further demonstrate that AUKF reduces the position error approximately by 65% compared with EKF and by 35% UKF and improves the robust performance. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Metallurgy & Metallurgical Engineering |
| 研究领域[WOS] | Metallurgy & Metallurgical Engineering |
| 关键词[WOS] | FILTER |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000331960100016 |
| 源URL | [http://ir.sia.cn/handle/173321/14610]  |
| 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. Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm[J]. Journal of Central South University,2014,21(2):550-557. |
| APA | Liu KZ,Li J,Guo W,Zhu PQ,&Wang XH.(2014).Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm.Journal of Central South University,21(2),550-557. |
| MLA | Liu KZ,et al."Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm".Journal of Central South University 21.2(2014):550-557. |
入库方式： OAI收割
来源：沈阳自动化研究所
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