Research on Attitude and Position Tracking Algorithm of Drill Bit for Underwater Mud-Penetrator

摘要：

　　This paper proposed a navigation algorithm based on indirect extended kalman filter.The algorithm adopted state error model based on sensor random walk and chose low frequency value of acceleration and angular velocity as observation.The extended kalman filter was used to calculate the optimal estimation of state error which can be used to correct the predicted value of state.IMU7200and encoder provide acceleration,angular velocity and velocity for drill bit.Marine experiments in the East China Sea show that the proposed algorithm can successfully implement with an accurate and reliable performance.

关键词： Indirect extended kalman filter Random walk model State error Low frequency value

作者: Ke Yang Tong Ge Xu Yang Wang

作者单位: Shanghai Jiao Tong University,Institute of underwater engineering,Shanghai,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 1381-1385

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）