| Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm简 |
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| 作者姓名： | LIU Kai-zhou LI Jing GUO Wei ZHU Pu-qiang WANG Xiao-hui |
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| 基金项目： | Projects（2009AA093302,2002AA401003）supported by the National High-Tech Research and Development Program of China;Project（YYYJ-0917）supported by the Knowledge Innovation of Chinese Academy of Sciences;Projects（61273334,61233013）supported by the National Natural Science Foundation of China;Project（2011010025-401）supported by the Natural Science Foundation of Liaoning Province,China |
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| 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.
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| 关 键 词： | 扩展卡尔曼滤波 自适应 机器人系统 算法 无迹卡尔曼滤波 水下 导航 数学方法 |
Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm |
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| LIU Kai-zhou,LI Jing,GUO Wei,ZHU Pu-qiang,WANG Xiao-hui.Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm[J].Journal of Central South University of Technology,2014(2):550-557. |
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| Affiliation: | [1]State Key Laboratory of Robotics (Shenyang Institute of Automation, Chinese Academy of Sciences), Shenyang 110016, China; [2]Graduate University of Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | human occupied vehicle navigation extended Kalman filter unscented Kalman filter adaptive unscented Kalman filter |
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| Keywords: | human occupied vehicle navigation extended Kalman filter unscented Kalman filter adaptive unscented Kalman filter |
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