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Multi-Sensor Data Fusion Approach for terrain match Navigation of Autonomous Underwater Vehicles

Multi-Sensor Data Fusion Approach for Terrain Match Navigati...

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2010 The 2nd International Conference on Industrial Mechatronics and Automation (ICIMA 2010)

作者： ZHANG Tao School of Mechanical Engineering North China Institute of Water Conservancy and Hydroelectric Power 450011 Zhengzhou China GAO Ji-xun Party Organization Department Henan Institute of Engineering 451196 Zhengzhou China

In order to improve the navigation accuracy of an underwater vehicle,a terrain passive integrated navigation system,which consists of strapdown inertial navigation system,underwater terrain map,bathometer,magnetic compass and doppler log is *** the integrated system,the position difference of inertial navigation and terrain match are as measurement equation,which adding to the doppler velocity measure equation and magnetic compass course measure *** the parameters are estimated using Kalman filter,eliminating the error of navigation *** simulation results prove that the terrain passive integrated navigation system,as number of navigation device is constant,can reduce the attitude angle error and location error of underwater vehicle effectively,and demand the requirement of high precision and low cost.

关键词： Underwater vehicle integrated navigation terrain match doppler log

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Autonomous Underwater Vehicle Navigation Using an Adaptive Kalman Filter for Sensor Fusion

Autonomous Underwater Vehicle Navigation Using an Adaptive K...

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第二十九届中国控制会议

作者： ZHANG Tao School of Mechanical Engineering,North China Institute of Water Conservancy and Hydroelectric Power,Zhengzhou,450011,P.R.China

In order to improve the navigation accuracy of an autonomous underwater vehicle,a terrain passive integrated navigation system,which consists of strapdown inertial navigation system,underwater terrain map,bathometer,magnetic compass and doppler log is *** the integrated system,the position measure equation of terrain match algorithm is as measurement equation,which adding to the doppler velocity measure equation and magnetic compass course measure *** the parameters are estimated using UD factorization-based adaptive kalman filter,which adjust the measure noise to suit change of measure course,inhibiting the error divergence of navigation *** simulation results prove that the terrain passive integrated navigation system,as number of navigation device is constant,can reduce the attitude angle error and location error of underwater vehicle effectively,and demand the requirement of high precision and low cost.

关键词： Autonomous Underwater Vehicle terrain match Integrated Navigation Adaptive Kalman Filter

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