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Adaptive unscented Kalman filter (AUKF)-based deepwater robot long-baseline combined navigation method
Authors
刘开周
李静
+3 more
王晓辉
祝普强
郭威
Publication date
14 January 2015
Publisher
Abstract
本发明涉及一种基于AUKF的深海机器人长基线组合导航方法,利用全球定位系统获取深海机器人的初始绝对位置作为航迹推算的初始点,并采深海机器人的集初始信息;构建无色卡尔曼滤波主滤波器并对采集到的初始信息进行滤波估计,构建无色卡尔曼辅助滤波器,对主滤波器滤波估计后信息进一步滤波估计,采用自适应无色卡尔曼滤波的方法对采集到的初始信息进行数据融合,得出融合后的信息。本发明提高使用长基线定位系统的深海机器人的导航精度,同时能够平滑深海机器人控制系统所需的航向、深度以及载体坐标系下的速度信息
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 12/02/2018