首页    期刊浏览 2024年12月13日 星期五
登录注册

文章基本信息

  • 标题:Model-aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle
  • 本地全文:下载
  • 作者:Alain Martinez ; Luis Hernandez ; Hichem Sahli
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2015
  • 卷号:12
  • DOI:10.5772/60415
  • 语种:English
  • 出版社:SAGE Publications
  • 摘要:This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation.
  • 关键词:AUV; linear dynamic model; model-aided navigation; Kalman filter; sea current estimation
国家哲学社会科学文献中心版权所有