Sensor Fusion for Underwater Vehicle Navigation Compensating Misalignment Using Lie Theory

Sensor Fusion for Underwater Vehicle Navigation Compensating Misalignment Using Lie Theory

This paper presents a sensor fusion method for navigation of unmanned underwater vehicles. The method combines Lie theory into Kalman filter to estimate and compensate for the misalignment between the sensors: inertial navigation system and Doppler Velocity Log (DVL). In the process and measurement...

Full description

Bibliographic Details
Main Authors:	Da Bin Jeong, Nak Yong Ko
Format:	Article
Language:	English
Published:	MDPI AG 2024-03-01
Series:	Sensors
Subjects:	Lie theory misalignment attitude navigation Kalman filter underwater vehicle
Online Access:	https://www.mdpi.com/1424-8220/24/5/1653

Similar Items

Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation
by: Nak Yong Ko, et al.
Published: (2019-01-01)

An Improved Unscented Kalman Filter Applied to Positioning and Navigation of Autonomous Underwater Vehicles
by: Jinchao Zhao, et al.
Published: (2025-01-01)

Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice
by: Laughlin D. L. Barker, et al.
Published: (2021-02-01)

A Multi-Sensor Fusion Underwater Localization Method Based on Unscented Kalman Filter on Manifolds
by: Yang Wang, et al.
Published: (2024-09-01)

Development and Evaluation of Enhanced Navigation Filters for Underwater Glider
by: Tae Suk Yoo, et al.
Published: (2025-01-01)

A Low-Cost Communication-Based Autonomous Underwater Vehicle Positioning System
by: Raphaël Garin, et al.
Published: (2024-11-01)

A Low-Cost and High-Precision Underwater Integrated Navigation System
by: Jiapeng Liu, et al.
Published: (2024-01-01)

Recent advances in navigation of underwater remotely operated vehicles
by: Daniel Alfonso Sierra Bueno, et al.
Published: (2014-01-01)

Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles
by: Nak Yong Ko, et al.
Published: (2022-01-01)

A Variational Bayesian-Based Simultaneous Localization and Mapping Method for Autonomous Underwater Vehicle Navigation
by: Pengcheng Mu, et al.
Published: (2022-10-01)

Correction Algorithm for the Navigation System of an Autonomous Unmanned Underwater Vehicle
by: Danhe Chen, et al.
Published: (2020-04-01)

An Enhanced Adaptive Ensemble Kalman Filter for Autonomous Underwater Vehicle Integrated Navigation
by: Zeming Liang, et al.
Published: (2024-11-01)

Underwater Vehicle Positioning by Correntropy-Based Fuzzy Multi-Sensor Fusion
by: Nabil Shaukat, et al.
Published: (2021-09-01)

Development of navigation system for large-scale and high-speed underactuated AUV
by: ZHAI Yunfeng, et al.
Published: (2018-12-01)

Accurate Position Estimation of Autonomous Underwater Vehicles by a Kalman Filter Using an Inertial Navigation Sensor
by: Bushra Raza, et al.
Published: (2023-09-01)

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing
by: Tianhong Yan, et al.
Published: (2011-11-01)

Advancements in Sensor Fusion for Underwater SLAM: A Review on Enhanced Navigation and Environmental Perception
by: Fomekong Fomekong Rachel Merveille, et al.
Published: (2024-11-01)

An Integrated Navigation Method Aided by Position Correction Model and Velocity Model for AUVs
by: Pengfei Lv, et al.
Published: (2024-08-01)

Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle
by: Zheping Yan, et al.
Published: (2018-09-01)

Polar Grid Navigation Algorithm for Unmanned Underwater Vehicles
by: Zheping Yan, et al.
Published: (2017-07-01)

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays
by: Zheping Yan, et al.
Published: (2018-03-01)

DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System
by: Bjørn Jalving, et al.
Published: (2004-10-01)

Underwater Wireless Charging System of Unmanned Surface Vehicles with High Power, Large Misalignment Tolerance and Light Weight: Analysis, Design and Optimization
by: Songyan Niu, et al.
Published: (2022-12-01)

Misalignment-Resilient Propagation Model for Underwater Optical Wireless Links
by: João H. Araújo, et al.
Published: (2022-12-01)

Comparison of Kalman Filters for Inertial Integrated Navigation
by: Mengde Zhang, et al.
Published: (2019-03-01)

Integration of Deep Sequence Learning-Based Virtual GPS Model and EKF for AUV Navigation
by: Peng-Fei Lv, et al.
Published: (2024-08-01)

A Novel Adaptive Factor-Based H∞ Cubature Kalman Filter for Autonomous Underwater Vehicle
by: Aijun Zhang, et al.
Published: (2022-02-01)

MAGINAV: Long-Term Accurate Navigation Algorithm Using Inertial and Magnetic Field Sensor Fusion
by: Konstantinos Papafotis, et al.
Published: (2023-01-01)

Adaptive weighted federated Kalman filtering based on Mahalanobis distance and its application in navigation
by: Yi Gao, et al.
Published: (2023-10-01)

Autonomous Underwater Vehicle Navigation via Sensors Maximum-Ratio Combining in Absence of Bearing Angle Data
by: Vadim Kramar, et al.
Published: (2023-09-01)

A Real-Time Mismatch Detection Method for Underwater Database-Referenced Navigation
by: Tian Dai, et al.
Published: (2019-01-01)

An Improved Initial Alignment Method Based on SE<sub>2</sub>(3)/EKF for SINS/GNSS Integrated Navigation System with Large Misalignment Angles
by: Jin Sun, et al.
Published: (2024-05-01)

Adaptive Navigation Algorithm with Deep Learning for Autonomous Underwater Vehicle
by: Hui Ma, et al.
Published: (2021-09-01)

Adaptive Step Size Learning With Applications to Velocity Aided Inertial Navigation System
by: Barak Or, et al.
Published: (2022-01-01)

Features of Invariant Extended Kalman Filter Applied to Unmanned Aerial Vehicle Navigation
by: Nak Yong Ko, et al.
Published: (2018-08-01)

Survey of Terrain-Aided Navigation Methods for Underwater Vehicles
by: Gang Fan, et al.
Published: (2023-01-01)

System Identification and Navigation of an Underactuated Underwater Vehicle Based on LSTM
by: Changhao Li, et al.
Published: (2025-01-01)

Multi-Sensor Fusion for Underwater Vehicle Localization by Augmentation of RBF Neural Network and Error-State Kalman Filter
by: Nabil Shaukat, et al.
Published: (2021-02-01)

Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles
by: Wei Wang, et al.
Published: (2018-02-01)

Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance
by: Andrey V. Savkin, et al.
Published: (2022-01-01)