@inproceedings{24779606797f40a5b31ada7cbdae84e3,
title = "In-motion initial alignment method for DVL-aided SINS under wave disturbance for AUV",
abstract = "This work discusses the implementation of inertial navigation system aided by Doppler Velocity Log (DVL) for the Autonomous Underwater Vehicles (AUV) applications. Due to disturbance from waves, the complicated underwater environment, to achieve Strapdown Inertial Navigation System (SINS) alignment accuracy within a short period of time is still a challenging problem. The difficulty for underwater SINS alignment is in designing the process covariance matrix and measurement noise covariance matrix, worse still, in most practical applications the process covariance matrix R, and measurement noise covariance matrix will change in the process of alignment. This paper highlights the use of fuzzy logic techniques to the adaptation of R, and we introduce the output of DVL as a reference of the change of external environment. And simulation experiment has been designed to evaluate our proposed algorithms, and results show that in our approach the Kalman filter needs less time to converge and has higher precision.",
keywords = "AKF, DVL, SINS, fuzzy logic, in-motion initial alignment",
author = "Chunjing Li and Bo Wang and Zhihong Deng and Mengyin Fu",
note = "Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",
year = "2014",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2014.6896703",
language = "English",
series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
publisher = "IEEE Computer Society",
pages = "658--663",
editor = "Shengyuan Xu and Qianchuan Zhao",
booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
address = "United States",
}