UKF-Based Navigation System for AUVs: Online Experimental Validation
نویسندگان
چکیده
منابع مشابه
UKF-based Parameter Estimation Method for Precise UUV Navigation
This paper proposes a parameter estimation method for improving the navigation accuracy of an unmanned underwater vehicle, which is equipped with a doppler, a gyro, a depth sensor and a GPS, using an Unscented Kalman Filter (UKF). The error sources are analyzed, and then a kinematical model is constructed accordingly. Using an UKF, the doppler scaling factor and the rotational alignment offset ...
متن کاملNew Kalman Filtering Algorithm for Passive-BD/SINS Integrated Navigation System Based on UKF
One of the disadvantages of passive-BD navigation system is that the pseudo-range error from its receiver is significant and difficult to be modeled. Therefore, passive-BD/SINS integrated navigation system using traditional indirect Kalman filtering method can not achieve high positioning accuracy and costs too much calculating time. This study optimizes the filtering algorithm for integrated s...
متن کاملActive Noise Cancellation using Online Wavelet Based Control System: Numerical and Experimental Study
Reaction wheels (RWs) used for attitude control of space vehicle systems usually encounter with undesired wide band noises. These noises which significantly affect the performance of regulator controller must tune the review or review rate of RWs. According to wide frequency band of noises in RWs the common approaches of noise cancellation cannot conveniently reduce the effects of the noise. Th...
متن کاملTightly coupled ultrashort baseline and inertial navigation system for underwater vehicles: An experimental validation
M. Morgado Department of Electrical and Computer Engineering, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisbon, Portugal e-mail: [email protected] P. Oliveira Department of Mechanical Engineering, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisbon, Portugal e-mail: [email protected] C. Silvestre Department of Electrical and Computer Engineering, In...
متن کاملExperimental Validation of Pulse Phase Tracking for X-ray Pulsar Based Spacecraft Navigation
Pulsars are a form of variable celestial source that have shown to be usable as aids for autonomous, deep space navigation. Particulary those sources emitting in the X-ray band are ideal for navigation due to smaller detector sizes. In this paper X-ray photons arriving from a pulsar are modeled as a non-homogeneous Poisson process. The method of pulse phase tracking is then investigated as a te...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Journal of Oceanic Engineering
سال: 2019
ISSN: 0364-9059,1558-1691,2373-7786
DOI: 10.1109/joe.2018.2843654