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Volume 18 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2010  >  18(3): 209-213
LI Hou-quan, YUAN Bing-cheng, TANG Jin-song. Integrated Navigation Method Based on SUKF Algorithm[J]. Journal of Unmanned Undersea Systems, 2010, 18(3): 209-213. doi: 10.11993/j.issn.1673-1948.2010.03.010
Citation: LI Hou-quan, YUAN Bing-cheng, TANG Jin-song. Integrated Navigation Method Based on SUKF Algorithm[J]. Journal of Unmanned Undersea Systems, 2010, 18(3): 209-213. doi: 10.11993/j.issn.1673-1948.2010.03.010
shu

Integrated Navigation Method Based on SUKF Algorithm

doi: 10.11993/j.issn.1673-1948.2010.03.010
  • 1.

    Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China

  • 2.

    Combat Command Department, Naval Submarine Academy, Qingdao 266071, China

  • 3.

    College of Electronic Engineering, Naval University of Engineering, Wuhan 430033, China

  • Received Date: 2009-09-28
  • Rev Recd Date: 2009-12-08
  • Publish Date: 2010-06-30
    Abstract
  • Synthetic aperture sonar (SAS) imaging is based on the straight track model with constant velocity. The motion error estimation for ascertaining the idea l track is usually achieved by the integrated navigation with high precision. For the larger attitude error angle, nonlinear error models of strap down inertial navigation system/acoustic Doppler current profiler (SINS /ADCP) based on quaternion error are established. The simulations are performed with the scaled unscented Kalman filter (SUKF) algorithm used in the nonlinear error models and the Kalman filter (KF) algorithm in the linear error models, respectively. The results indicate that the SUKF algorithm in the nonlinear models is superior to the KF algorithm in the linear error models in the respect of navigation accuracy.

     

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