A Cascaded kalman filter model-aided inertial navigation system for underwater vehicle

被引：0
|
作者：
Alawieh, Hussein [1 ]
Sahili, Jihad [1 ]
机构：
[1] Lebanese Univ, Fac Engn, Branch 3, Dept Mech Engn, Beirut, Lebanon
来源：
2019 7TH INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2019) | 2019年
关键词：
inertial navigation; Kalman filter; AHRS; Model aided navigation; SENSORS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper reports the development of a low cost model aided inertial navigation system for an underwater vehicle. The inertial navigation is a combination of a complementary indirect Kalman filter for attitude estimation and another extended Kalman filter for the fusion of the dynamic model and the inertial measurement unit's output. It is shown that the fusion of an attitude and heading reference system (AHRS) with a model aided inertial navigation system (INS) can improve the accuracy of the navigation. This approach can improve the underwater navigation capabilities when no other aiding sensors are present.
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页码：104 / 109
页数：6
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