An Improved Federated Filtering Method for Integrated Navigation System of Autonomous Underwater Vehicle

摘要：

To improve the navigation accuracy of AUV (Autonomous Underwater Vehicle),SINS (Strapdown Inertial Navigation System),GPS (Global Positioning System),DVL (Doppler Velocity Log) and TAN (Terrain Aided Navigation) are adopted in the AUV integrated navigation system.The mathematic model of the AUV integrated navigation system and the observation model of the chosen navigation sensors are built according to the system simulation experiments data.An improved filter based on RBF neural network for adjusting the information sharing factors is designed and implemented in the AUV integrated navigation system.Simulation experiments are carried out according to the mathematic model.It can be concluded from the simulation experiments that the navigation accuracy is improved substantially with the multiple sensors and federated filter in case that colored noise is engaged.The novel integrated navigation system is effective in prohibiting the divergence of the filter and improving fault tolerance ability and it greatly raises the precision of the navigation accuracy for the AUV integrated navigation system.

作者: Shimei Duan Fengju Kang Yanfang Fu Yankai Wang

会议类型: 国际会议

会议名称: Asia Simulation Conference 2008/the 7th International Conference on System Simulation and Scientific Computing(2008亚洲仿真会议/第七届系统仿真和科学计算国际会议)(ICSC2008)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-10（万方平台首次上网日期，不代表论文的发表时间）