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.

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..

Multirate Adaptive Kalman Filter for Marine Integrated Navigation System

2016 ◽  
Vol 70 (3) ◽  
pp. 628-647 ◽  
Author(s):  
Narjes Davari ◽  
Asghar Gholami ◽  
Mohammad Shabani
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Dynamic Environment ◽  
Statistical Information ◽  
Doppler Velocity ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Integrated Navigation System ◽  
Imperfect Knowledge ◽  
Marine Navigation

In the conventional integrated navigation system, the statistical information of the process and measurement noises is considered constant. However, due to the changing dynamic environment and imperfect knowledge of the filter statistical information, the process and measurement covariance matrices are unknown and time-varying. In this paper, a multirate adaptive Kalman filter is proposed to improve the performance of the Error State Kalman Filter (ESKF) for a marine navigation system. The designed navigation system is composed of a strapdown inertial navigation system along with Doppler velocity log and inclinometer with different sampling rates. In the proposed filter, the conventional adaptive Kalman filter is modified by adaptively tuning the measurement covariance matrix of the auxiliary sensors that have varying sampling grates based on the innovation sequence. The performance of the proposed filter is evaluated using real measurements. Experimental results show that the average root mean square error of the position estimated by the proposed filter can be decreased by approximately 60% when compared to that of the ESKF.

scholarly journals RL-AKF: An Adaptive Kalman Filter Navigation Algorithm Based on Reinforcement Learning for Ground Vehicles

2020 ◽  
Vol 12 (11) ◽  
pp. 1704
Author(s):  
Xile Gao ◽  
Haiyong Luo ◽  
Bokun Ning ◽  
Fang Zhao ◽  
Linfeng Bao ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Covariance Matrix ◽  
Navigation System ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Process Noise ◽  
Noise Covariance Matrix ◽  
Integrated Navigation System ◽  
Navigation Algorithm ◽  
Noise Covariance

Kalman filter is a commonly used method in the Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated navigation system, in which the process noise covariance matrix has a significant influence on the positioning accuracy and sometimes even causes the filter to diverge when using the process noise covariance matrix with large errors. Though many studies have been done on process noise covariance estimation, the ability of the existing methods to adapt to dynamic and complex environments is still weak. To obtain accurate and robust localization results under various complex and dynamic environments, we propose an adaptive Kalman filter navigation algorithm (which is simply called RL-AKF), which can adaptively estimate the process noise covariance matrix using a reinforcement learning approach. By taking the integrated navigation system as the environment, and the opposite of the current positioning error as the reward, the adaptive Kalman filter navigation algorithm uses the deep deterministic policy gradient to obtain the most optimal process noise covariance matrix estimation from the continuous action space. Extensive experimental results show that our proposed algorithm can accurately estimate the process noise covariance matrix, which is robust under different data collection times, different GNSS outage time periods, and using different integration navigation fusion schemes. The RL-AKF achieves an average positioning error of 0.6517 m within 10 s GNSS outage for GNSS/INS integrated navigation system and 14.9426 m and 15.3380 m within 300 s GNSS outage for the GNSS/INS/Odometer (ODO) and the GNSS/INS/Non-Holonomic Constraint (NHC) integrated navigation systems, respectively.

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