Research for the Application of Adaptive Unscented Kalman Filter in Underwater Robot

摘要：

In actual navigation process, Due to the precision faults of underwater robot which adopts SINS combining with electronic compass and DVL, Nonlinear mathematical model is established with consideration of real working status, and adaptive unscented kalman filter algorithm is put forward for data processing. Compared to the simulation of extended kalman filter algorithm, the AUKF confirms higher precision and practicality.

关键词： AUKF underwater robot EKF SINS

作者: Zhang Aijun Liu Yashu Chen Yichao

作者单位: Nanjing University of Science and Technology, School of Mechanical Engineering Nanjing, Jiangsu

会议类型: 国际会议

会议名称: The 13th IEEE Joint International Computer Science and Information Technology Conference(2011年第13届IEEE联合国际计算机科学与信息技术会议 JICSIT 2011)

会议地点: 重庆

会议语种:英文

页码: 450-453

在线出版日期: 2011-08-20（万方平台首次上网日期，不代表论文的发表时间）