A Novel Adaptive H-Infinity Cubature Kalman Filter Algorithm Based on Sage-Husa Estimator for Unmanned Underwater Vehicle
Joint Authors
Yang, Rui
Zhang, Aijun
Zhang, Lifei
Hu, Ye
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-20
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
In the navigation of unmanned underwater vehicle (UUV), a filtering algorithm suitable for the working conditions is required.
Due to the disturbance from the environment and maneuverability, outliers and noise with time-varying statistical properties always exist, which greatly affect the positioning accuracy and stability of the navigation system.
In this paper, we present a novel nonlinear state estimation algorithm named AH∞CKF based on the combination of H∞CKF and Sage-Husa estimator.
The recently developed H∞CKF provides nonlinear filtering good robustness, and Sage-Husa estimator could timely modify the statistical properties of noise.
The novel algorithm is superior to H∞CKF in accuracy by combining Sage-Husa estimator with the H∞CKF while ensuring robustness.
The effectiveness of the novel AH∞CKF is verified by lake experiment and simulation.
American Psychological Association (APA)
Yang, Rui& Zhang, Aijun& Zhang, Lifei& Hu, Ye. 2020. A Novel Adaptive H-Infinity Cubature Kalman Filter Algorithm Based on Sage-Husa Estimator for Unmanned Underwater Vehicle. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1200845
Modern Language Association (MLA)
Yang, Rui…[et al.]. A Novel Adaptive H-Infinity Cubature Kalman Filter Algorithm Based on Sage-Husa Estimator for Unmanned Underwater Vehicle. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1200845
American Medical Association (AMA)
Yang, Rui& Zhang, Aijun& Zhang, Lifei& Hu, Ye. A Novel Adaptive H-Infinity Cubature Kalman Filter Algorithm Based on Sage-Husa Estimator for Unmanned Underwater Vehicle. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1200845
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1200845