Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

Abstract

To impove underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

Keywords

dead reckoning / underwater vehicle / strong tracking kalman filter / measurement noise