UKF-based Parameter Estimation Method for Precise UUV Navigation
نویسندگان
چکیده
This paper proposes a parameter estimation method for improving the navigation accuracy of an unmanned underwater vehicle, which is equipped with a doppler, a gyro, a depth sensor and a GPS, using an Unscented Kalman Filter (UKF). The error sources are analyzed, and then a kinematical model is constructed accordingly. Using an UKF, the doppler scaling factor and the rotational alignment offset between the doppler and gyro are accurately estimated. Simulations are carried out on a semi-physical platform and the result shows that the proposed method can effectively estimate these parameters. The effectiveness of the method is further verified by field experiments.
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