公开(公告)号：US11754400B2

公开(公告)日：2023-09-12

申请号：US17779167

申请日：2021-07-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan Chen ,  Siyi Zhang ,  Xiaotian Zhang ,  Junwei Wang

IPC: G01C21/20 ,  G01C21/16

CPC classification number: G01C21/20 ,  G01C21/16

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.