@inproceedings{8a1f0f2205844733af6705fb6e9ca6a8,
title = "A SINS/DVL integrated navigation positioning method based on improved adaptive filtering technology",
abstract = "Due to the random drift of the gyro, the use of SINS alone will cause the navigation error to gradually divergence with time in the design of the SINS/DVL integrated navigation system. The speed information using the DVL output can only suppress the divergence of the SINS navigation error to a certain extent which will result in low positioning accuracy. This paper proposes a SINS/DVL integrated navigation positioning method based on improved adaptive filtering technology in view of the error source of SINS and the influence mechanism of positioning results. This system selects the indirect filtering method and uses the integrated navigation error model to model the navigation parameters of the system. Then, the adaptive gain filtering method is proposed by using the filter gain compensation proposed in this paper based on the error characteristics of the navigation parameters. The navigation parameters of the system are filtered and the error information of the navigation parameters is obtained. Finally, integrated with the navigation parameter error information, the navigation parameters of the system are solved, and the high-precision navigation results are obtained to achieve accurate positioning of underwater objects. The experimental and evaluation results show that the SINS/DVL integrated navigation positioning method based on the filter gain compensation improved adaptive filtering technology can effectively improve the positioning accuracy.",
keywords = "Adaptive Filter, Integrated Navigation, Kalman, SINS",
author = "Yipeng Yang and Xiaozhen Yan and Qinghua Luo",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 3rd IEEE International Conference on Smart Internet of Things, SmartIoT 2019 ; Conference date: 09-08-2019 Through 11-08-2019",
year = "2019",
month = aug,
doi = "10.1109/SmartIoT.2019.00047",
language = "英语",
series = "Proceedings - 2019 IEEE International Conference on Smart Internet of Things, SmartIoT 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "262--268",
booktitle = "Proceedings - 2019 IEEE International Conference on Smart Internet of Things, SmartIoT 2019",
address = "美国",
}