A robust Kalman filter based on Gaussian-Exponential distribution for SINS/USBL integration navigation system

IF 1.5 4区工程技术 Q3 ENGINEERING, MARINE Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment Pub Date : 2024-01-26 DOI:10.1177/14750902231224832

Yao Li, Liang Zhang

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Abstract

In order to meet the needs of high-precision navigation for underwater vehicles, a strapdown inertial navigation system (SINS)/ultra-short baseline (USBL) tightly coupled integrated strategy is proposed, which can avoid the errors generated in the calculation of absolute position and improve the positioning accuracy of the integrated navigation system compared with the loosely coupled strategy. In addition, due to the influence of environmental noise in the ocean, the measurement of USBL is accompanied by a large number of outliers, which leads to the decrease of the precision of the integrated navigation system based on traditional Kalman filter. Therefore, a robust filter based on Gaussian-Exponential distribution is presented for the SINS/USBL integrated navigation system in this paper. Finally, the feasibility and the superiority of the proposed algorithm is verified through simulation and field test in the Yangtze River.

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基于高斯-指数分布的鲁棒卡尔曼滤波器，用于 SINS/USBL 集成导航系统

为了满足水下航行器高精度导航的需求，提出了带下惯性导航系统（SINS）/超短基线（USBL）紧密耦合的集成策略，与松耦合策略相比，可以避免绝对位置计算中产生的误差，提高集成导航系统的定位精度。此外，由于海洋环境噪声的影响，USBL 的测量伴随着大量离群值，导致基于传统卡尔曼滤波器的综合导航系统精度下降。因此，本文针对 SINS/USBL 集成导航系统提出了一种基于高斯-指数分布的鲁棒滤波器。最后，通过仿真和在长江上的实地测试，验证了所提算法的可行性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment ENGINEERING, MARINE-

CiteScore

3.90

自引率

11.10%

发文量

审稿时长

>12 weeks

期刊介绍： The Journal of Engineering for the Maritime Environment is concerned with the design, production and operation of engineering artefacts for the maritime environment. The journal straddles the traditional boundaries of naval architecture, marine engineering, offshore/ocean engineering, coastal engineering and port engineering.