Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation System
In complex underwater environments, the measurement noise model of autonomous underwater vehicle(AUV) navigation system will change with many uncertainties. Besides, the statistical characteristics of noise are difficult to be obtained accurately. For more precise state estimates, this paper introdu...
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| Format: | Article |
| Language: | English |
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Editorial Department of Journal of Nantong University (Natural Science Edition)
2021-03-01
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| Series: | Nantong Daxue xuebao. Ziran kexue ban |
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| Online Access: | https://ngzke.cbpt.cnki.net/portal/journal/portal/client/paper/6dccf3cf94dee5be774d1aa11d890ab6 |
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| _version_ | 1849222182685638656 |
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| author | ZHU Yixian; ZHOU Ling |
| author_facet | ZHU Yixian; ZHOU Ling |
| author_sort | ZHU Yixian; ZHOU Ling |
| collection | DOAJ |
| description | In complex underwater environments, the measurement noise model of autonomous underwater vehicle(AUV) navigation system will change with many uncertainties. Besides, the statistical characteristics of noise are difficult to be obtained accurately. For more precise state estimates, this paper introduces an adaptive filter based on fuzzy logic, which makes the measurement noise covariance matrix adaptively adjust to the accurate one. In order to verify its validity, the proposed algorithm is used in a SINS/MCP/DVL/TAN integrated navigation system. The simulation results show that when dealing with the unstable measurement noise, the proposed filter has the higher degree of accuracy compared with the Sage-Husa adaptive filter. The east and north velocity errors of the proposed filter are reduced by 27.0% and 42.0% respectively. The latitude and longitude errors are reduced by 49.4% and 58.0% respectively. |
| format | Article |
| id | doaj-art-18f5e8e5cf8c4a7ab5907e4a35b9792f |
| institution | Kabale University |
| issn | 1673-2340 |
| language | English |
| publishDate | 2021-03-01 |
| publisher | Editorial Department of Journal of Nantong University (Natural Science Edition) |
| record_format | Article |
| series | Nantong Daxue xuebao. Ziran kexue ban |
| spelling | doaj-art-18f5e8e5cf8c4a7ab5907e4a35b9792f2025-08-26T06:55:07ZengEditorial Department of Journal of Nantong University (Natural Science Edition)Nantong Daxue xuebao. Ziran kexue ban1673-23402021-03-012001343910.12194/j.ntu.20200305002Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation SystemZHU Yixian; ZHOU Ling0School of Materials Science and Engineering, Nantong University;Department of Physics and Electronic Engineering, Yuncheng UniversityIn complex underwater environments, the measurement noise model of autonomous underwater vehicle(AUV) navigation system will change with many uncertainties. Besides, the statistical characteristics of noise are difficult to be obtained accurately. For more precise state estimates, this paper introduces an adaptive filter based on fuzzy logic, which makes the measurement noise covariance matrix adaptively adjust to the accurate one. In order to verify its validity, the proposed algorithm is used in a SINS/MCP/DVL/TAN integrated navigation system. The simulation results show that when dealing with the unstable measurement noise, the proposed filter has the higher degree of accuracy compared with the Sage-Husa adaptive filter. The east and north velocity errors of the proposed filter are reduced by 27.0% and 42.0% respectively. The latitude and longitude errors are reduced by 49.4% and 58.0% respectively.https://ngzke.cbpt.cnki.net/portal/journal/portal/client/paper/6dccf3cf94dee5be774d1aa11d890ab6integrated navigation systemfuzzy logicadaptive filtering |
| spellingShingle | ZHU Yixian; ZHOU Ling Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation System Nantong Daxue xuebao. Ziran kexue ban integrated navigation system fuzzy logic adaptive filtering |
| title | Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation System |
| title_full | Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation System |
| title_fullStr | Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation System |
| title_full_unstemmed | Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation System |
| title_short | Fuzzy Adaptive Filtering Algorithm Used in Autonomous Underwater Vehicle Integrated Navigation System |
| title_sort | fuzzy adaptive filtering algorithm used in autonomous underwater vehicle integrated navigation system |
| topic | integrated navigation system fuzzy logic adaptive filtering |
| url | https://ngzke.cbpt.cnki.net/portal/journal/portal/client/paper/6dccf3cf94dee5be774d1aa11d890ab6 |
| work_keys_str_mv | AT zhuyixianzhouling fuzzyadaptivefilteringalgorithmusedinautonomousunderwatervehicleintegratednavigationsystem |