Study of the Algorithm of Backtracking Decoupling and Adaptive Extended Kalman Filter Based on the Quaternion Expanded to the State Variable for Underwater Glider Navigation

Study of the Algorithm of Backtracking Decoupling and Adaptive Extended Kalman Filter Based on the Quaternion Expanded to the State Variable for Underwater Glider Navigation

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even...

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Bibliographic Details
Main Authors: Haoqian Huang, Xiyuan Chen, Zhikai Zhou, Yuan Xu, Caiping Lv
Format: Article
Language:English
Published: MDPI AG 2014-12-01
Series:Sensors
Subjects:
underwater glider
inertial navigation system (INS)
backtracking decoupling
adaptive extended Kalman filter (AEKF)
quaternion expanded to the state variable
Online Access:http://www.mdpi.com/1424-8220/14/12/23041

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http://www.mdpi.com/1424-8220/14/12/23041

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