TY - GEN
T1 - An Integrated Navigation and Localization System
AU - Luo, Qinghua
AU - Yan, Xiaozhen
AU - Zhou, Zhiquan
AU - Wang, Chenxu
AU - Hu, Cong
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Navigation and localization technique is a critical part of an autonomous underwater vehicle (AUV). It provides critical position information, and determines the efficiency and accuracy of underwater tasks. To improve the accuracy and reliability of the navigation and localization system, we proposed an integrated navigation and localization system with a federated Kalman filter. In this system, we first utilize an improved Kalman filter-based SINS/DVL combined localization method to improve the tracking ability and position accuracy of the inertial navigation. Then we explore an ultra-short baseline (USBL) base phase difference Kalman filtering to improve the localization accuracy of USBL. Finally, we resort to a federated Kalman filter to integrate the SINS/DVL/USBL combined localization system. Experimental results illustrated the navigation and localization system could enhance the positioning accuracy effectively.
AB - Navigation and localization technique is a critical part of an autonomous underwater vehicle (AUV). It provides critical position information, and determines the efficiency and accuracy of underwater tasks. To improve the accuracy and reliability of the navigation and localization system, we proposed an integrated navigation and localization system with a federated Kalman filter. In this system, we first utilize an improved Kalman filter-based SINS/DVL combined localization method to improve the tracking ability and position accuracy of the inertial navigation. Then we explore an ultra-short baseline (USBL) base phase difference Kalman filtering to improve the localization accuracy of USBL. Finally, we resort to a federated Kalman filter to integrate the SINS/DVL/USBL combined localization system. Experimental results illustrated the navigation and localization system could enhance the positioning accuracy effectively.
KW - Federated Kalman filters
KW - Integrated localization
KW - Localization
UR - https://www.scopus.com/pages/publications/85125767664
U2 - 10.1109/SmartIoT52359.2021.00014
DO - 10.1109/SmartIoT52359.2021.00014
M3 - 会议稿件
AN - SCOPUS:85125767664
T3 - Proceedings - 5th IEEE International Conference on Smart Internet of Things, SmartIoT 2021
SP - 28
EP - 32
BT - Proceedings - 5th IEEE International Conference on Smart Internet of Things, SmartIoT 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE International Conference on Smart Internet of Things, SmartIoT 2021
Y2 - 13 August 2021 through 15 August 2021
ER -