Volume 5 Number 5 (May 2010)
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JCP 2010 Vol.5(5): 757-764 ISSN: 1796-203X
doi: 10.4304/jcp.5.5.757-764

A New Method to Improve the Maneuver Capability of AUV Integrated Navigation Systems

Zhen Guo, Yanling Hao, and Feng Sun
College of Automation, Harbin Engineering University, Harbin, China

Abstract—The maneuver characteristic of the most commonly used AUV integrated navigation systems was investigated in this paper. After analyzing the error cause of conversional used Kalman filter of SINS/DVL integrated navigation systems in maneuver state, a novel method was proposed which is to use the output of complex navigation systems to revise the SINS in real-time, and an improved adaptive Kalman filter was discussed here to reach the seamless changing of the whole system. The measurement remnant method was introduced to judge whether the bearing change event happened or not. The whole design was aiming to reach the smooth transition between the different motion states and improve the maneuver capability of the AUV navigation system. The simulation results confirms the new approach could restrain the oscillation of Kalman filter in motion changing state and improve the accuracy of the AUV integrated navigation systems.

Index Terms—maneuver, integrated navigation systems, adaptive Kalman filter, AUV

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Cite: Zhen Guo, Yanling Hao, and Feng Sun, " A New Method to Improve the Maneuver Capability of AUV Integrated Navigation Systems," Journal of Computers vol. 5, no. 5, pp. 757-764, 2010.

General Information

ISSN: 1796-203X
Abbreviated Title: J.Comput.
Frequency: Monthly
Editor-in-Chief: Prof. Liansheng Tan
Executive Editor: Ms. Nina Lee
Abstracting/ Indexing: DBLP, EBSCO,  ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat, CNKI,etc
E-mail: jcp@iap.org
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