[1]LI Ye,CHANG Wen-tian,WAN Lei,et al.Research on underwater vehicle adaptive Kalman filter[J].CAAI Transactions on Intelligent Systems,2006,1(2):44-47.
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Research on underwater vehicle adaptive Kalman filter

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 1 Number of periods: 2006 2 Page number: 44-47 Column: 学术论文—人工智能基础 Public date: 2006-10-25
Title:
Research on underwater vehicle adaptive Kalman filter
Author(s):
LI Ye; CHANG Wen-tian;  WAN Lei;  SUN Yu-shan
College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
Keywords:
underwater vehicle;  Kalman filter;  adaptive
CLC:
TP24
DOI:
-
Abstract:
AUV position and velocity sensors are affected by environment. Data fi ltering is one of important problems of AUV motion control. Discrete basic Kalma n filter equation is given. Two loops of Kalman filter: plus loop and filter loo p are described. AUV state equation and measuring equation are founded. Data fro m AUV sensors are disposed by adaptive Kalman filter with fading exponent. Fadin g memory exponent is introduced. New data are emphasized for timevaried data. T his method avoids inaccuracy by system error and measuring error. Filter effect analysis proves that the method is effective. 
References:
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