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Quasi-Newton Cubature Kalman Filitering Method Based on BFGS Correction Formula for Attitude Determination Applied to Underwater Glider

机译：基于BFGS修正公式的拟牛顿河卡尔曼滤波方法在水下滑翔机上的姿态确定

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The performance of Micro-Electro-Mechanical System sensors is degraded seriously and errors will become much larger in the complex underwater environment, the measurements become unobservable particularly when the magnetic sensor is disturbed by external magnetic interference, resulting in the navigation information determined erroneously. In order to deal with the problem mentioned, the paper proposes a novel Quasi-Newton CKF method based on BFGS Correction Formula. This method makes better use of the superiority of the anti-interference ability and the computation efficiency to obtain navigation information with high accuracy for a long time of gliding. Meanwhile, BFGS Correction Formula, which is used in Quasi-Newton method, adopts the inaccurate linear search to improve the computational efficiency further.

机译：在复杂的水下环境中，微机电系统传感器的性能会严重下降，误差会变得更大，尤其是当磁传感器受到外部磁干扰干扰时，测量结果将变得不可观察，从而导致错误地确定了导航信息。针对上述问题，提出了一种基于BFGS校正公式的拟牛顿CKF方法。该方法更好地利用了抗干扰能力和计算效率的优势，可以在长时间的滑行中获得高精度的导航信息。同时，在拟牛顿法中使用的BFGS校正公式采用了不精确的线性搜索，进一步提高了计算效率。

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《IEEE International Workshop on Metrology for Aerospace》|2018年|290-294|共5页
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作者
Haoqian Huang; Tie Huang; Jun Zhou; Kangrui Hong; Zhiqiang Liu; Chen Qu;
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Magnetic sensors; Mathematical model; Navigation; Covariance matrices; Position measurement; Computational efficiency;

机译：磁传感器;数学模型;导航;协方差矩阵;位置测量;计算效率;

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Quasi-Newton Cubature Kalman Filitering Method Based on BFGS Correction Formula for Attitude Determination Applied to Underwater Glider

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