2024
DOI: 10.3390/jmse12071178
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An Invariant Filtering Method Based on Frame Transformed for Underwater INS/DVL/PS Navigation

Can Wang,
Chensheng Cheng,
Chun Cao
et al.

Abstract: Underwater vehicles heavily depend on the integration of inertial navigation with Doppler Velocity Log (DVL) for fusion-based localization. Given the constraints imposed by sensor costs, ensuring the optimization ability and robustness of fusion algorithms is of paramount importance. While filtering-based techniques such as Extended Kalman Filter (EKF) offer mature solutions to nonlinear problems, their reliance on linearization approximation may compromise final accuracy. Recently, Invariant EKF (IEKF) method… Show more

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