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公开(公告)号:US20220404152A1
公开(公告)日:2022-12-22
申请号:US17779167
申请日:2021-07-28
Applicant: SOUTHEAST UNIVERSITY
Inventor: Xiyuan CHEN , Siyi ZHANG , Xiaotian ZHANG , Junwei WANG
Abstract: A motion constraint-aided underwater integrated navigation method employing improved Sage-Husa adaptive filtering includes establishing a Doppler log error model; constructing a state equation for an underwater integrated navigation system employing Kalman filtering; according to a relationship between a centripetal acceleration and a forward velocity of an underwater vehicle, establishing a constraint condition, and constructing a complete motion constraint model; establishing two measurement equations; and establishing a filter equation, conducting calculation by using a standard Kalman filtering algorithm when an underwater glider normally runs, and conducting time updating, measurement updating and filtering updating by using an improved Sage-Husa adaptive filtering algorithm when a measurement noise varies. The motion constraint-aided underwater integrated navigation method improves a filtering accuracy of the underwater integrated navigation system, restrains a filter divergence and has robustness and reliability.