High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders

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• 作者：Haoqian Huang^a ; ^b ; Xiyuan Chen^a ; ^b ; ^{chxiyuan@seu.edu.cn} ; Bo Zhang^c ; Jian Wang^c
• 关键词：Underwater glider ; Inertial navigation system ; Error estimation ; Multi-model ; Adams formula
• 刊名：ISA Transactions
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：66
• 期：Complete
• 页码：414-424
• 全文大小：3366 K
• 卷排序：66

文摘

A novel multi-model EKF filter is proposed to perform the optimal estimation. A novel fusion method integrating the Adams explicit formula with the multi-model EKF is proposed. The performance of method is verified in the application of underwater glider successfully.