TY - GEN
T1 - An improved federated filtering method for integrated navigation system of Autonomous Underwater Vehicle
AU - Duan, Shimei
AU - Kang, Fengju
AU - Fu, Yanfang
AU - Wang, Yankai
PY - 2008
Y1 - 2008
N2 - To improve the navigation accuracy of AUV (Autonomous Underwater Vehicle), SINS (Strapdown Inertial Navigation System), GPS (Global Positioning System), DVL (Doppler Velocity Log) and TAN (Terrain Aided Navigation) are adopted in the AUV integrated navigation system. The mathematic model of the AUV integrated navigation system and the observation model of the chosen navigation sensors are built according to the system simulation experiments data. An improved filter based on RBF neural network for adjusting the information sharing factors is designed and implemented in the AUV integrated navigation system. Simulation experiments are carried out according to the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy is improved substantially with the multiple sensors and federated filter in case that colored noise is engaged. The novel integrated navigation system is effective in prohibiting the divergence of the filter and improving fault tolerance ability and it greatly raises the precision of the navigation accuracy for the AUV integrated navigation system.
AB - To improve the navigation accuracy of AUV (Autonomous Underwater Vehicle), SINS (Strapdown Inertial Navigation System), GPS (Global Positioning System), DVL (Doppler Velocity Log) and TAN (Terrain Aided Navigation) are adopted in the AUV integrated navigation system. The mathematic model of the AUV integrated navigation system and the observation model of the chosen navigation sensors are built according to the system simulation experiments data. An improved filter based on RBF neural network for adjusting the information sharing factors is designed and implemented in the AUV integrated navigation system. Simulation experiments are carried out according to the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy is improved substantially with the multiple sensors and federated filter in case that colored noise is engaged. The novel integrated navigation system is effective in prohibiting the divergence of the filter and improving fault tolerance ability and it greatly raises the precision of the navigation accuracy for the AUV integrated navigation system.
UR - http://www.scopus.com/inward/record.url?scp=58049170187&partnerID=8YFLogxK
U2 - 10.1109/ASC-ICSC.2008.4675460
DO - 10.1109/ASC-ICSC.2008.4675460
M3 - Conference contribution
AN - SCOPUS:58049170187
SN - 9781424417872
T3 - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
SP - 748
EP - 751
BT - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
T2 - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
Y2 - 10 October 2008 through 12 October 2008
ER -