TY - GEN
T1 - Cooperative localization for underwater vehicles
AU - Zhang, Lichuan
AU - Liu, Mingyong
AU - Xu, Demin
AU - Yan, Weisheng
PY - 2009
Y1 - 2009
N2 - In this paper, we propose a cooperative localization algorithm based on Extended Kalman Filter (EKF) for multiple underwater vehicles. Research on cooperative localization of multiple underwater vehicles is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the cooperative localization structure, one master underwater vehicles is equipped with high precision navigation system as a node, and several slaver underwater vehicles are equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. An Extended Kalman Filter (EKF) is designed, which fuses the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively by using cooperative localization method based on EKF.
AB - In this paper, we propose a cooperative localization algorithm based on Extended Kalman Filter (EKF) for multiple underwater vehicles. Research on cooperative localization of multiple underwater vehicles is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the cooperative localization structure, one master underwater vehicles is equipped with high precision navigation system as a node, and several slaver underwater vehicles are equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. An Extended Kalman Filter (EKF) is designed, which fuses the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively by using cooperative localization method based on EKF.
KW - Autonomous underwater vehicles
KW - Cooperative localization
KW - Extended kalman filter
KW - Navigation
UR - http://www.scopus.com/inward/record.url?scp=70349306923&partnerID=8YFLogxK
U2 - 10.1109/ICIEA.2009.5138662
DO - 10.1109/ICIEA.2009.5138662
M3 - 会议稿件
AN - SCOPUS:70349306923
SN - 9781424428007
T3 - 2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
SP - 2524
EP - 2527
BT - 2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
T2 - 2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
Y2 - 25 May 2009 through 27 May 2009
ER -