An improved federated filtering method for integrated navigation system of Autonomous Underwater Vehicle

2008 ◽  
Author(s):  
Shimei Duan ◽  
Fengju Kang ◽  
Yanfang Fu ◽  
Yankai Wang
Keyword(s):  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Filtering Method ◽  
Federated Filtering

Application of Federated Filter to AUV Based on Terrain-Aided SINS

2014 ◽  
Vol 711 ◽  
pp. 338-341 ◽  
Author(s):  
Qi Wang ◽  
Cheng Shan Qian ◽  
Zi Jia Zhang ◽  
Chang Song Yang
Keyword(s):  
Kalman Filtering ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Filtering Method ◽  
Long Time ◽  
Federated Filtering ◽  
Strapdown Inertial Navigation

To improve the navigation precision and reliability of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Federated Filter (FF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and Federated Filtering method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the Federated Filtering method is able to improve the long-time navigation precision and reliability, relative to the traditional Kalman Filtering method.

The integrated navigation system of an autonomous underwater vehicle and the experience from its application in high arctic latitudes

2010 ◽  
Vol 1 (2) ◽  
pp. 107-112 ◽  
Author(s):  
A. V. Inzartsev ◽  
A. V. Kamornyi ◽  
L. V. Kiselev ◽  
Yu. V. Matvienko ◽  
A. M. Pavin ◽  
...  
Keyword(s):  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
High Arctic ◽  
Integrated Navigation ◽  
Integrated Navigation System

Application of Modified Self-Adaptive Kalman Filter in Integrated Navigation System of Autonomous Underwater Vehicle

2011 ◽  
Vol 79 ◽  
pp. 298-303
Author(s):  
Yu Shan Sun ◽  
Wen Jiang Li ◽  
Zai Bai Qin ◽  
Hong Li Chen ◽  
Ji Qing Li
Keyword(s):  
Kalman Filter ◽  
Data Processing ◽  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Underwater Robots ◽  
Integrated Navigation System ◽  
Self Adaptive

Owing to the complex operating environment of underwater vehicles, many uncertainties of sensors data, big noises of sensors , low precision and high rate of wild points of underwater acoustic sensors, data processing of motion sensors data for underwater vehicle navigation system becomes extremely important. The integrated navigation system of autonomous underwater vehicle based on dead-reckoning is introduced. An modified adaptive Kalman filter is adopted for underwater vehicle sensors information data processing. Experimental results show that the modified self-adaptive Kalman filter(SAKF) is effective, and can meet the underwater robots perform a variety of tasks in the navigation and positioning accuracy..

scholarly journals Navigation Switching Strategy-Based SINS/GPS/ADS/DVL Fault-Tolerant Integrated Navigation System

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Weiqi Li ◽  
Rui Zhang ◽  
Hongjie Lei
Keyword(s):  
Data Processing ◽  
Navigation System ◽  
Fault Tolerant ◽  
Integrated Navigation ◽  
Sensor Faults ◽  
Sensor Failure ◽  
Switching Strategy ◽  
Integrated Navigation System ◽  
Serial Data ◽  
Federated Filtering

Considering the conventional federated filtering-based fault-tolerant integrated navigation system is difficult to be implemented by serial data processing circuits, this paper presents navigation switching strategy-based SINS/GPS/ADS/DVL fault-tolerant integrated navigation system to guarantee the reliability of integrated navigation system under sensor faults. When sensor failure appears, SINS and fault-free sensors are selected successively to form an integrated navigation system, such that reliable navigation parameters can be obtained. The simulation tests are implemented to verify that the SINS/GPS/ADS/DVL integrated navigation system can provide reliable navigation parameters when ADS and DVL are disabled.

scholarly journals Modified Sage-Husa Adaptive Kalman Filter-Based SINS/DVL Integrated Navigation System for AUV

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Ruixin Liu ◽  
Fucheng Liu ◽  
Chunning Liu ◽  
Pengchao Zhang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Positive Definiteness ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Integrated Navigation System ◽  
The Stability ◽  
Navigation Accuracy ◽  
Navigation Errors

This paper presents a modified Sage-Husa adaptive Kalman filter-based SINS/DVL integrated navigation system for the autonomous underwater vehicle (AUV), where DVL is employed to correct the navigation errors of SINS that accumulate over time. When negative definite items are large enough, different from the positive definiteness of noise matrices which cannot be guaranteed for the conventional Sage-Husa adaptive Kalman filter, the proposed modified Sage-Husa adaptive Kalman filter deletes the negative definite items of adaptive update laws of the noise matrix to ensure the convergence of the Sage-Husa adaptive Kalman filter. In other words, this method sacrifices some filtering precision to ensure the stability of the filter. The simulation tests are implemented to verify that expected navigation accuracy for AUV can be obtained using the proposed modified Sage-Husa adaptive Kalman filter.

A Low Complexity Integrated Navigation System for Underwater Vehicles

2018 ◽  
Vol 71 (5) ◽  
pp. 1161-1177 ◽  
Author(s):  
Mehdi Emami ◽  
Mohammad Reza Taban
Keyword(s):  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Three Dimensional ◽  
Low Complexity ◽  
Doppler Velocity ◽  
Integrated Navigation ◽  
Fusion Algorithm ◽  
Sea Trial ◽  
Integrated Navigation System ◽  
Computational Load

This paper proposes a simplified algorithm for reducing the computational load of the conventional underwater integrated navigation system. The system usually comprises a three-dimensional accelerometer, a three-dimensional gyroscope, a three-dimensional Doppler Velocity Log (DVL) and a data fusion algorithm, such as a Kalman Filter (KF). Since the expected variations of roll, pitch and depth are small, these quantities are assumed to be constant, and the proposed system is designed in a two-dimensional form. Due to the low speed of the vehicle, the nonlinear dynamic equation of the velocity can be simplified in a linear form. We also simplify the conventional KF in order to avoid matrix multiplications and matrix inversions. The performance of the designed system is evaluated in a sea trial by an Autonomous Underwater Vehicle (AUV). The results show that the proposed system can significantly reduce the computational load of the conventional integrated navigation system without a significant reduction in position and velocity accuracy.

scholarly journals Research on Wavelet Singularity Detection Based Fault-Tolerant Federated Filtering Algorithm for INS/GPS/DVL Integrated Navigation System

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Jianhua Cheng ◽  
Daidai Chen ◽  
Rene Landry Jr. ◽  
Lin Zhao ◽  
Dongxue Guan
Keyword(s):  
Navigation System ◽  
Fault Tolerant ◽  
Integrated Navigation ◽  
Singularity Detection ◽  
Integrated Navigation System ◽  
Lipschitz Exponent ◽  
Filtering Algorithm ◽  
Federated Filtering ◽  
Soft Faults ◽  
Modulus Maxima

Soft faults in navigation sensors will lead to the degradation of the accuracy and reliability of integrated navigation system. To solve this problem, a wavelet analysis and signal singularities based soft fault detection method are given out. To find signal singularities and detect the faults, the modulus maxima values are calculated after the wavelet transform of original signal. By calculating the Lipschitz exponent using the modulus maxima value at the fault point, the fault types are distinguished. Then, a fault-tolerant federated filtering algorithm for the calibration of INS/GPS/DVL integrated navigation system is proposed. Simulations are conducted and results show that sensor soft faults can be detected accurately. By effectively isolating the fault and refactoring information, the accuracy and reliability of navigation system are improved.

Sign in / Sign up

Export Citation Format

Share Document