![](/images/graphics-bg.png)
An Improved Adaptive Kalman Filter for Underwater SINSDVL System
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-18
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The main challenge of Strap-down Inertial Navigation System (SINS)/Doppler velocity log (DVL) navigation system is the external measurement noise.
Although the Sage–Husa adaptive Kalman filter (SHAKF) has been introduced in the integrated navigation field, the precision and stability of the SHAKF are still the tricky problems to be overcome.
The primary aim of this paper is to improve the precision and stability of underwater SINS/DVL system.
To attain this, a SINS/DVL tightly integrated model is established, where beam measurements are used without transforming them to 3D velocity.
The proposed improved SHAKF algorithm is based on variable sliding window estimation and fading filter.
The simulations and vehicle test results demonstrate the effectiveness of the proposed underwater SINS/DVL tightly integrated navigation method based on the improved SHAKF.
In addition, the position accuracy of the designed method outperforms that of the SHAKF method.
American Psychological Association (APA)
Wang, Di& Xu, Xiaosu& Hou, Lanhua. 2020. An Improved Adaptive Kalman Filter for Underwater SINSDVL System. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1196002
Modern Language Association (MLA)
Wang, Di…[et al.]. An Improved Adaptive Kalman Filter for Underwater SINSDVL System. Mathematical Problems in Engineering No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1196002
American Medical Association (AMA)
Wang, Di& Xu, Xiaosu& Hou, Lanhua. An Improved Adaptive Kalman Filter for Underwater SINSDVL System. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1196002
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196002