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Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm 被引量:10
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作者 刘开周 李静 +2 位作者 郭威 祝普强 王晓辉 《Journal of Central South University》 SCIE EI CAS 2014年第2期550-557,共8页
Inherent flaws in the extended Kalman filter(EKF) algorithm were pointed out and unscented Kalman filter(UKF) was put forward as an alternative.Furthermore,a novel adaptive unscented Kalman filter(AUKF) based on innov... Inherent flaws in the extended Kalman filter(EKF) algorithm were pointed out and unscented Kalman filter(UKF) was put forward as an alternative.Furthermore,a novel adaptive unscented Kalman filter(AUKF) based on innovation was developed.The three data-fusing approaches were analyzed and evaluated in a mathematically rigorous way.Field experiments conducted in lake further demonstrate that AUKF reduces the position error approximately by 65% compared with EKF and by 35% UKF and improves the robust performance. 展开更多
关键词 human occupied vehicle NAVIGATION extended kalman filter unscented kalman filter adaptive unscented kalman filter
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A Robust UWB Array Localization Scheme through Passive Anchor Assistance 被引量:2
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作者 Haipeng Lu TianyuWang +1 位作者 Feng Ge Yuan Shen 《China Communications》 SCIE CSCD 2021年第4期1-13,共13页
Ultra-Wide Bandwidth(UWB)localization based on time of arrival(TOA)and angle of arrival(AOA)has attracted increasing interest owing to its high accuracy and low cost.However,existing localization methods often fail to... Ultra-Wide Bandwidth(UWB)localization based on time of arrival(TOA)and angle of arrival(AOA)has attracted increasing interest owing to its high accuracy and low cost.However,existing localization methods often fail to achieve satisfactory accuracy in realistic environments due to multipath effects and non-line-of-sight(NLOS)propagation.In this paper,we propose a passive anchor assisted localization(PAAL)scheme,where the active anchor obtains TOA/AOA measurements to the agent while the passive anchors capture the signals from the active anchor and agent.The proposed method fully exploits the time-difference-of-arrival(TDOA)information from the measurements at the passive anchors to complement single-anchor joint TOA/AOA localization.The performance limits of the PAAL system are derived as a benchmark via the information inequality.Moreover,we implement the PAAL system on a low-cost UWB platform,which can achieve 20 cm localization accuracy in NLOS environments. 展开更多
关键词 ultra-wideband localization NLOS environments passive listening adaptive unscented kalman filter(UKF)
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