A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation
An accurate observation model and statistical model are critical in underwater integrated navigation. However, it is often the case that the statistical characteristics of noise are unknown through the ultra-short baseline (USBL) system/Doppler velocity log (DVL) integrated navigation in the deep-se...
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| Format: | Article |
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MDPI AG
2020-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/21/6029 |
| _version_ | 1797550042648674304 |
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| author | Kaifei He Huimin Liu Zhenjie Wang |
| author_facet | Kaifei He Huimin Liu Zhenjie Wang |
| author_sort | Kaifei He |
| collection | DOAJ |
| description | An accurate observation model and statistical model are critical in underwater integrated navigation. However, it is often the case that the statistical characteristics of noise are unknown through the ultra-short baseline (USBL) system/Doppler velocity log (DVL) integrated navigation in the deep-sea. Additionally, the velocity of underwater vehicles relative to the bottom of the sea or the currents is commonly provided by the DVL, and an adaptive filtering solution is needed to correctly estimate the velocity with unknown currents. This paper focuses on the estimation of unknown currents and measurement noise covariance for an underwater vehicle based on the USBL, DVL, and a pressure gauge (PG), and proposes a novel unbiased adaptive two-stage information filter (ATSIF) for the underwater vehicle (UV) with an unknown time-varying currents velocity. In the proposed algorithm, the adaptive filter is decomposed into a standard information filter and an unknown currents velocity information filter with interconnections, and the time-varying unknown ocean currents and measurement noise covariance are estimated. The simulation and experimental results illustrate that the proposed algorithm can make full use of high-precision observation information and has better robustness and navigation accuracy to deal with time-varying currents and measurement outliers than existing state-of-the-art algorithms. |
| first_indexed | 2024-03-10T15:23:52Z |
| format | Article |
| id | doaj.art-98477616a3fc4421bb41aec10d695a73 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T15:23:52Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-98477616a3fc4421bb41aec10d695a732023-11-20T18:16:48ZengMDPI AGSensors1424-82202020-10-012021602910.3390/s20216029A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated NavigationKaifei He0Huimin Liu1Zhenjie Wang2College of Oceanography and Spaces Informatics, China University of Petroleum (East China), Qingdao 266580, ChinaLaboratory for Marine Mineral Resources, Qingdao National Laboratory for Marine Science and Technology, Qingdao 266071, ChinaCollege of Oceanography and Spaces Informatics, China University of Petroleum (East China), Qingdao 266580, ChinaAn accurate observation model and statistical model are critical in underwater integrated navigation. However, it is often the case that the statistical characteristics of noise are unknown through the ultra-short baseline (USBL) system/Doppler velocity log (DVL) integrated navigation in the deep-sea. Additionally, the velocity of underwater vehicles relative to the bottom of the sea or the currents is commonly provided by the DVL, and an adaptive filtering solution is needed to correctly estimate the velocity with unknown currents. This paper focuses on the estimation of unknown currents and measurement noise covariance for an underwater vehicle based on the USBL, DVL, and a pressure gauge (PG), and proposes a novel unbiased adaptive two-stage information filter (ATSIF) for the underwater vehicle (UV) with an unknown time-varying currents velocity. In the proposed algorithm, the adaptive filter is decomposed into a standard information filter and an unknown currents velocity information filter with interconnections, and the time-varying unknown ocean currents and measurement noise covariance are estimated. The simulation and experimental results illustrate that the proposed algorithm can make full use of high-precision observation information and has better robustness and navigation accuracy to deal with time-varying currents and measurement outliers than existing state-of-the-art algorithms.https://www.mdpi.com/1424-8220/20/21/6029ultra-short baseline systemDoppler velocity logadaptive two-stage information filtercurrents velocitymeasurement noise covariance |
| spellingShingle | Kaifei He Huimin Liu Zhenjie Wang A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation Sensors ultra-short baseline system Doppler velocity log adaptive two-stage information filter currents velocity measurement noise covariance |
| title | A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation |
| title_full | A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation |
| title_fullStr | A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation |
| title_full_unstemmed | A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation |
| title_short | A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation |
| title_sort | novel adaptive two stage information filter approach for deep sea usbl dvl integrated navigation |
| topic | ultra-short baseline system Doppler velocity log adaptive two-stage information filter currents velocity measurement noise covariance |
| url | https://www.mdpi.com/1424-8220/20/21/6029 |
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