A Novel Scheme for DVL-Aided SINS In-Motion Alignment Using UKF Techniques

A Novel Scheme for DVL-Aided SINS In-Motion Alignment Using UKF Techniques

In-motion alignment of Strapdown Inertial Navigation Systems (SINS) without any geodetic-frame observations is one of the toughest challenges for Autonomous Underwater Vehicles (AUV). This paper presents a novel scheme for Doppler Velocity Log (DVL) aided SINS alignment using Unscented Kalman Filter...

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Bibliographic Details
Main Authors: Wenqi Wu, Liangqing Lu, Jinling Wang, Wanli Li
Format: Article
Language:English
Published: MDPI AG 2013-01-01
Series:Sensors
Subjects:
DVL-aided
in-motion alignment
AUKF
measurement noise covariance
Online Access:http://www.mdpi.com/1424-8220/13/1/1046

Internet

http://www.mdpi.com/1424-8220/13/1/1046

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