Paper Info
Title
Research on multi-sensor fusion of underwater robot navigation system
Abstract
A general design method of federated Kalman filter based on multi-sensor fusion is introduced, and applied in integrated navigation system including SINS, electronic compass and depth gauge for underwater robot integrated navigation system. We adopts federal filtering NR structure of integrated navigation which establishes a SINS / electronic compass sub-filter, SINS / depth gauge sub-filter and main filter. Simulation results show that the federal filter is feasible for integrated navigation. It ensures not only fault tolerance and real-time at the same time, but also meets the system accuracy.
Year
DOI
Venue
2009
10.1109/ROBIO.2009.5420720
ROBIO
Keywords
Field
DocType
robots,compass,sensor fusion,real time,mobile robots,kalman filters,fault tolerant,navigation,kalman filter,markov processes,fault tolerance,design method,path planning
Computer vision,Compass,Navigation system,Filter (signal processing),Control engineering,Kalman filter,Sensor fusion,Artificial intelligence,Mobile robot navigation,Engineering,Robot,Mobile robot
Conference
Volume
Issue
Citations 
null
null
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Zhang Hong1183.74
Song Zhen-hua200.34