Modified Sage-Husa Adaptive Kalman Filter-Based SINS/DVL Integrated Navigation System for AUV | Zendy

Ruixin Liu | Zendy; Fucheng Liu | Zendy; Chunning Liu | Zendy; Pengchao Zhang | Zendy

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Modified Sage-Husa Adaptive Kalman Filter-Based SINS/DVL Integrated Navigation System for AUV

Author(s) -

Ruixin Liu,

Fucheng Liu,

Chunning Liu,

Pengchao Zhang

Publication year - 2021

Publication title -

journal of sensors

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.399

H-Index - 43

eISSN - 1687-7268

pISSN - 1687-725X

DOI - 10.1155/2021/9992041

Subject(s) - kalman filter , control theory (sociology) , fast kalman filter , extended kalman filter , adaptive filter , computer science , noise (video) , filter (signal processing) , engineering , artificial intelligence , computer vision , algorithm , control (management) , image (mathematics)

This paper presents a modified Sage-Husa adaptive Kalman filter-based SINS/DVL integrated navigation system for the autonomous underwater vehicle (AUV), where DVL is employed to correct the navigation errors of SINS that accumulate over time. When negative definite items are large enough, different from the positive definiteness of noise matrices which cannot be guaranteed for the conventional Sage-Husa adaptive Kalman filter, the proposed modified Sage-Husa adaptive Kalman filter deletes the negative definite items of adaptive update laws of the noise matrix to ensure the convergence of the Sage-Husa adaptive Kalman filter. In other words, this method sacrifices some filtering precision to ensure the stability of the filter. The simulation tests are implemented to verify that expected navigation accuracy for AUV can be obtained using the proposed modified Sage-Husa adaptive Kalman filter.

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