Application of Kalman Filter in AUV Acoustic Navigation-Reference-Cited by-同舟云学术

Application of Kalman Filter in AUV Acoustic Navigation

Published:2014-02 Issue: Volume:525 Page:695-701
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Ji Chang Lin¹,Zhang Ning²,Wang Hai Hui²,Zheng Cui E¹

Affiliation:

1. Harbin Engineering University

2. CNOOC deepwater Development Limited

Abstract

LBL(Long Baseline) positioning provides an important positioning and navigation method for AUV(Autonomous Underwater Vehicle)’s underwater task. Due to the complex underwater acoustic channel, and its poor anti-interference ability, a new feedback Kalman fiter algorithm was present in this paper. By combining travel time information with position information, the state of AUV was estimated accurately. By analyzing experimental results, it showed that the LBL positioning accuracy was improved, and the algorithm ensured AUV complete its autonomous navigation with high precision.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.525.695.pdf

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