The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The integrated navigation sensor using DVL (Doppler Vel...The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The integrated navigation sensor using DVL (Doppler Velocity Log) is widely used to improve the underwater navigation performance. However, the DVL’s range of measuring varied depending on the characteristics of sensor. So, if the sea gets too deep suddenly, it cannot measure the velocity. To complement such a weak point, the VKF was additionally designed, which was made of DVL, RPM (Revolve Per Minutes) of motor, and ES (Echo Sounder). The proposed approach relies on a VKF, augmented by an altitude from ES based switching architecture to yield robust performance, even when DVL exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate the proposed method, we compare the VKF aided navigation system with PINS (Pure Inertial Navigation System) and conventional INS-DVL navigation system through simulation results. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.展开更多
Achieving ignition of ICF(inertial confinement fusion)has been the great dream that scientists all over the world pursue.As a grand challenge,this aim requires energetic and high quality lasers.High power laser facili...Achieving ignition of ICF(inertial confinement fusion)has been the great dream that scientists all over the world pursue.As a grand challenge,this aim requires energetic and high quality lasers.High power laser facilities,for this purpose,have therefore flourished over the past several decades.Meanwhile high power laser facilities,also essential for high-energy-density(HED)scientific research and astrophysics,drive rapid progress of material science,electronics,precision machinery and so on.Many countries have successfully established a succession of facilities to study ICF and HED physics,such as National Ignition Facility(NIF)[1]in the United States and the Laser Megajoule(LMJ)in France[2].展开更多
文摘The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The integrated navigation sensor using DVL (Doppler Velocity Log) is widely used to improve the underwater navigation performance. However, the DVL’s range of measuring varied depending on the characteristics of sensor. So, if the sea gets too deep suddenly, it cannot measure the velocity. To complement such a weak point, the VKF was additionally designed, which was made of DVL, RPM (Revolve Per Minutes) of motor, and ES (Echo Sounder). The proposed approach relies on a VKF, augmented by an altitude from ES based switching architecture to yield robust performance, even when DVL exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate the proposed method, we compare the VKF aided navigation system with PINS (Pure Inertial Navigation System) and conventional INS-DVL navigation system through simulation results. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.
文摘Achieving ignition of ICF(inertial confinement fusion)has been the great dream that scientists all over the world pursue.As a grand challenge,this aim requires energetic and high quality lasers.High power laser facilities,for this purpose,have therefore flourished over the past several decades.Meanwhile high power laser facilities,also essential for high-energy-density(HED)scientific research and astrophysics,drive rapid progress of material science,electronics,precision machinery and so on.Many countries have successfully established a succession of facilities to study ICF and HED physics,such as National Ignition Facility(NIF)[1]in the United States and the Laser Megajoule(LMJ)in France[2].
