An effective LS-SVM/AKF aided SINS/DVL integrated navigation system for underwater vehicles

Sun, Jin; Wang, Fu

doi:10.1007/s12083-022-01310-x

Cited by 3 publications

(2 citation statements)

References 37 publications

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“…Thus, the estimation capability of the attitude angle of the VMF 1 algorithm is weaker than that of VMF2. Meanwhile, in the measurement equation shown in Equation (25), no error accumulated over time in the velocity measured by DVL in the b-frame. In contrast, the Equation (32) contains the accumulated SINS velocity error over time so that the VMF 1 has a better estimation capability for velocity than the VMF 2.…”

Section: The Structure and Analysis Of The Sins/dvl Integrated Naviga...mentioning

confidence: 99%

“…Recently, the research focused on increasing the measurement information without adding external sensors is also a development direction. Many approaches to machine learning have been proposed, but uncertainty in machine learning models is not friendly to navigation accuracy [25]. Chang et al proposed an active perception approach for the localization of AUV.…”

Section: Introductionmentioning

confidence: 99%

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Virtual Metrology Filter-Based Algorithms for Estimating Constant Ocean Current Velocity

Huang,

Liu,

Shao

et al. 2023

Remote Sensing

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The strap-down inertial navigation system (SINS) and Doppler velocity log (DVL) integrated navigation system are widely used for autonomous underwater vehicles (AUVs). Whereas DVL works in the water tracking mode, the velocity provided by DVL is relative to the current layer and cannot be directly used to suppress the divergence of SINS errors. Therefore, the estimation and compensation of the ocean current velocity play an essential role in improving navigation positioning accuracy. In recent works, ocean currents are considered constant over a short term in small areas. In the common KF algorithm with the ocean current as a state vector, the current velocity cannot be estimated because the current velocity and the SINS velocity error are coupled. In this paper, two virtual metrology filter (VMF) methods are proposed for estimating the velocity of ocean currents based on the properties that the currents remain unchanged at the adjacent moments. New measurement equations are constructed to decouple the current velocity and the SINS velocity error, respectively. Simulations and lake tests show that both proposed methods are effective in estimating the current velocity, and each has its advantages in estimating the ocean current velocity or the misalignment angle.

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Section: The Structure and Analysis Of The Sins/dvl Integrated Naviga...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%