Research Article
Motion Constraint Aided Underwater Integrated Navigation Method Based on Improved Adaptive Filtering
@INPROCEEDINGS{10.1007/978-3-030-82562-1_43, author={Siyi Zhang and Xiyuan Chen}, title={Motion Constraint Aided Underwater Integrated Navigation Method Based on Improved Adaptive Filtering}, proceedings={Multimedia Technology and Enhanced Learning. Third EAI International Conference, ICMTEL 2021, Virtual Event, April 8--9, 2021, Proceedings, Part I}, proceedings_a={ICMTEL}, year={2021}, month={7}, keywords={Motion constraint Centripetal acceleration Sage-Husa adaptive filtering Fault judgment Scale factor}, doi={10.1007/978-3-030-82562-1_43} }- Siyi Zhang
Xiyuan Chen
Year: 2021
Motion Constraint Aided Underwater Integrated Navigation Method Based on Improved Adaptive Filtering
ICMTEL
Springer
DOI: 10.1007/978-3-030-82562-1_43
Abstract
The underwater environment is complicated. Aiming at the problem of sudden changes in measurement information when the submarine encounters submarine trenches, clusters of fish, and strong maneuvering turns during navigation, this paper introduces centripetal acceleration errors on the basis of traditional motion constraints, which effectively restrict the forward speed of the carrier. Meanwhile, this paper proposed the fault judgment of the measurement information and the optimal estimation of the scale factor to improve the Sage-Husa adaptive filtering. Finally, a simulation experiment is carried out and the results show that the improved algorithm can reduce the computation complexity when the measurement information is correct. What’s more, it can also suppress the divergence of the system filter effectively when the measurement information has sudden errors, which proves the robustness and reliability of the system.
