Application for Autonomous Underwater Vehicle Initial Alignment with Divided Difference Filter

摘要：

Regarding the problem of the Autonomous Underwater Vehicle (AUV) departing from the mother ship and starting up, this paper proposed a divided difference filter (DDF) basing on the Stirling interpolation formula. When AUV separated from the mother ship and restarted, the coarse alignment was not ideal. Its level misalignment error precision was high, but its heading misalignment error precision was low. The large heading misalignment error model was applied to the fine alignment on moving base. The large heading misalignment error model was nonlinear. The first order divided difference (DD1) filter and the second order divided difference (DD2) filter were adopted to the nonlinear filtering. Simulation results show that the DD1 alignment precision is equivalent with Extended Kalman Filter (EKF), but the alignment time shorts by 33％. The DD2 alignment precision is equivalent with Unscented Kalman Filter (UKF), but the alignment time shorts by 28％. The alignment precision raises by 60％ compared to the EKF.

关键词： Autonomous Underwater Vehicle Divided Difference Filter large heading misalignment error nonlinear filtering

作者: Guiling Zhao Wei Gao Xin Zhang Yueyang Ben

作者单位: Automation College Harbin Engineering University Harbin,Heilongjiang Province,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）