Dual-Mode Square Root Cubature Kalman Filter for Miniaturized Underwater Profiler Dead Reckoning

Author:

Zhang Yang123ORCID,Xia Qingchao23,Yang Canjun2ORCID,Song Ruiyin1ORCID,Wu Dingze3ORCID,Zhang Xin34,Zhou Rui3,Ma Shuyang3

Affiliation:

1. College of Mechanical and Energy Engineering, NingboTech University, Ningbo 315100, China

2. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China

3. Ningbo Innovation Center, Zhejiang University, Ningbo 315100, China

4. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China

Abstract

Miniaturized underwater profilers have the advantages of small size, low cost, and flexible deployment, which play together an important role in the persistent monitoring of a designated ocean area. Based on the demand for ocean observation, the system design, dynamic modeling, and dead reckoning algorithm of a miniaturized underwater profiler are carried out. The process of the persistent monitoring of designated area with a miniaturized underwater profiler is analyzed, and the overall structure of the miniaturized underwater profiler was designed. Additionally, the kinematic and dynamic model of the miniaturized underwater profiler is given based on the inertial and body coordinate systems. Then, according to the state equation and the observation equation of the miniaturized underwater profiler, a dual-mode square root cubature Kalman filter (DSRCKF) algorithm, combining standard SRCKF and adaptive SRCKF, is proposed for the dead reckoning of the miniaturized underwater profiler. Finally, a comprehensive comparison of EKF, UKF, CKF, SRCKF, and DSRCKF and the associated simulations and experiments are conducted to verify the performance of the underwater dead reckoning algorithm for the miniaturized underwater profiler. The results show that the DSRCKF algorithm has a certain role in the dead reckoning of the miniaturized underwater profiler, particularly in the z direction and attitude. In future, a real underwater dead reckoning test using miniaturized underwater profiler will be carried out.

Funder

China Postdoctoral Science Foundation

National Natural Science Foundation of China

National Key Research and Development Program of China

Publisher

MDPI AG

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