A Matching-Unscented Kalman Filtering for Gravity Aided Navigation

摘要：

A matching-unscented Kalman filtering for gravity aided navigation is presented in this paper. With this method submerged position fixes for autonomous underwater vehicle can be obtained from comparing gravity fields’ measurements with gravity maps, meanwhile the drawback of traditional matching or filtering algorithms can be avoided. A synthetic gravity map was taken for the simulation, and the results showed that navigation errors can be reduced more efficiently and reliably by the presented method.

关键词： gravity navigation underwater navigation gravity matching unscented Kalman filter

作者: Lin Wu Xin Tian Hong Ma Jinwen Tian

作者单位: National Key Laboratory of Science and Technology on Multi-spectral Information Processing,Huazhong National Key Laboratory of Science and Technology on Multi-spectral Information Processing,Huazhong Department of Electronics and Information Engineering, Huazhong University of Science and Technology

会议类型: 国际会议

会议名称: 第七届多光谱图象处理与模式识别国际学术会议

会议地点: 桂林

会议语种:英文

页码: 1-5

在线出版日期: 2011-11-01（万方平台首次上网日期，不代表论文的发表时间）