Research on Multi-sensor Fusion of Underwater Robot Navigation System

摘要：

A general design method of federated Kalman filter based on multi-sensor fusion is introduced, and applied in integrated navigation system including SINS, electronic compass and depth gauge for underwater robot integrated navigation system. We adopts federal filtering NR structure of integrated navigation which establishes a SINS / electronic compass sub-filter, SINS / depth gauge sub-filter and main filter. Simulation results show that the federal filter is feasible for integrated navigation. It ensures not only fault tolerance and real-time at the same time but also meets the system accuracy.

作者: Zhang Hong Song Zhen-hua

作者单位: Electrical Engineering College,Northeast Dianli University,Jilin China Institute of Aerospace Science and Techno logy,Shanghai Jiao tong University,Shanghai China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1327-1330

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）