Design of Seamless Changing Method for AUV Integrated Navigation System

Author

Guo, Zhen ; Hao, Yanling ; Sun, Feng ; Gao, Wei

Author_Institution

Coll. of Autom., Harbin Eng. Univ. Harbin, Harbin

Volume

2

fYear

2009

fDate

7-8 March 2009

Firstpage

160

Lastpage

164

Abstract

A seamless changing method for AUV integrated navigation system was proposed considering the SINS/DVL and Compass/DVL integrated navigation method have their own advantage for linear motion and curvilinear motion. Bearing consistent check combining with the measure remnant method was discussed as the maneuver checking method, and the adaptive Kalman filter was used by SINS/DVL integrated navigation system for the motion changing state. The simulation results confirm the new approach could improve the accuracy of the integrated navigation system, and enhance the motion capability for AUV.

Keywords

adaptive Kalman filters; navigation; remotely operated vehicles; underwater vehicles; AUV integrated navigation system; Compass/DVL integrated navigation; SINS/DVL; adaptive Kalman filter; autonomous underwater vehicle; curvilinear motion; maneuver checking method; measure remnant method; motion changing state; seamless changing method; Computer science; Computer science education; Dead reckoning; Educational technology; Markov processes; Navigation; Noise measurement; Silicon compounds; Systems engineering education; Vectors; AUV; adpative Kalman filter; integrated navigation; seamless changing;

fLanguage

English

Publisher

ieee

Conference_Titel

Education Technology and Computer Science, 2009. ETCS '09. First International Workshop on

Conference_Location

Wuhan, Hubei

Print_ISBN

978-1-4244-3581-4

Type

conf

DOI

10.1109/ETCS.2009.297

Filename

4959011