TY - GEN
T1 - Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements
AU - Qi, Yuantao
AU - Wang, Bo
AU - Wang, Shunting
AU - Fu, Mengyin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles (MAUVs). In this work, in order to solve the invalidation of location due to the time delayed measurements, an algorithm which based on the augmented extended Kalman filter (AEKF) is proposed. The algorithm expands the variable dimension of slave AUV according to the time delayed measurements, and infers the fundamental equations of AEKF. Compared to the traditional EKF method, simulation results prove that AEKF has higher positioning accuracy.
AB - Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles (MAUVs). In this work, in order to solve the invalidation of location due to the time delayed measurements, an algorithm which based on the augmented extended Kalman filter (AEKF) is proposed. The algorithm expands the variable dimension of slave AUV according to the time delayed measurements, and infers the fundamental equations of AEKF. Compared to the traditional EKF method, simulation results prove that AEKF has higher positioning accuracy.
UR - https://www.scopus.com/pages/publications/85015208219
U2 - 10.1109/CGNCC.2016.7828800
DO - 10.1109/CGNCC.2016.7828800
M3 - Conference contribution
AN - SCOPUS:85015208219
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 295
EP - 299
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -