Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm

Abstract

Inherent flaws in the extended Kalman filter (EKF) algorithm were pointed out and unscented Kalman filter (UKF) was put forward as an alternative. Furthermore, a novel adaptive unscented Kalman filter (AUKF) based on innovation was developed. The three data-fusing approaches were analyzed and evaluated in a mathematically rigorous way. Field experiments conducted in lake further demonstrate that AUKF reduces the position error approximately by 65% compared with EKF and by 35% UKF and improves the robust performance.

Keywords

human occupied vehicle / navigation / extended Kalman filter / unscented Kalman filter / adaptive unscented Kalman filter

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