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首页> 外文会议>International Conference on Mechatronic Systems and Materials Application >Application of Improved Unscented Kalman Filter to AUV Based on Terrain-aided Strapdown Inertial Navigation System
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Application of Improved Unscented Kalman Filter to AUV Based on Terrain-aided Strapdown Inertial Navigation System

机译：基于地形辅助挂钩惯性导航系统的改进的Unscented Kalman滤波器在AUV中的应用

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摘要

To improve the navigation precision of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Improved Unscented Kalman Filter (IUKF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and improved UKF 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 IUKF method is able to greatly improve the long-time navigation precision, relative to the traditional information fusion method.
机译：为了提高自主水下车辆的导航精度，本文提出了一种基于改进的无创的卡尔曼滤波器（Iukf）的地形辅助拟计惯性导航。本文描述了表层惯性导航系统和地形辅助导航系统的特性，并将改进的UKF方法应用于信息融合。与传统的卡尔曼滤波方法进行了本文提出的新型集成导航系统的仿真实验。实验结果表明，IUKF方法能够大大提高长时间导航精度，相​​对于传统信息融合方法。

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