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Development of Integrated Navigation Algorithm for Underwater Vehicle using Velocity Filter
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 Title & Authors
Development of Integrated Navigation Algorithm for Underwater Vehicle using Velocity Filter
Yoo, Tae-Suk; Chung, Gyoo-Pil; Yoon, Seon-Il;
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 Abstract
This paper describes a robust algorithm for an integrated underwater navigation system based on VKF (velocity Kalman filter). The proposed approach relies on a VKF, augmented by the altitude from an echo-sounder-based switching architecture to yield robust performance, even when DVL (Doppler velocity log) exceeds the measurement range and the measured value cannot be valid. The proposed approach relies on three parts: 1) PINS (pure inertial navigation system), 2) VKF design, and 3) VKF-aided integrated navigation filter design. To evaluate the proposed method, we compare the results of the VKF-aided navigation system with the simulation result from a PINS and conventional INS-DVL method.
 Keywords
IMU;Kalman filter;Velocity filter;INS;
 Language
Korean
 Cited by
1.
Analysis of Integrated Navigation Performance for Sensor Selection of Unmanned Underwater Vehicle (UUV), Journal of Ocean Engineering and Technology, 2014, 28, 6, 566  crossref(new windwow)
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