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Article

A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation

by 1,2, 2,3,* and 1
1
College of Oceanography and Spaces Informatics, China University of Petroleum (East China), Qingdao 266580, China
2
Laboratory for Marine Mineral Resources, Qingdao National Laboratory for Marine Science and Technology, Qingdao 266071, China
3
China Geological Survey Qingdao Institute of Marine Geology, Qingdao 266071, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(21), 6029; https://doi.org/10.3390/s20216029
Received: 14 August 2020 / Revised: 9 October 2020 / Accepted: 20 October 2020 / Published: 23 October 2020
(This article belongs to the Special Issue Sensing, Perception, and Navigation in Space Robotics)
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. View Full-Text
Keywords: ultra-short baseline system; Doppler velocity log; adaptive two-stage information filter; currents velocity; measurement noise covariance ultra-short baseline system; Doppler velocity log; adaptive two-stage information filter; currents velocity; measurement noise covariance
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MDPI and ACS Style

He, K.; Liu, H.; Wang, Z. A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation. Sensors 2020, 20, 6029. https://doi.org/10.3390/s20216029

AMA Style

He K, Liu H, Wang Z. A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation. Sensors. 2020; 20(21):6029. https://doi.org/10.3390/s20216029

Chicago/Turabian Style

He, Kaifei, Huimin Liu, and Zhenjie Wang. 2020. "A Novel Adaptive Two-Stage Information Filter Approach for Deep-Sea USBL/DVL Integrated Navigation" Sensors 20, no. 21: 6029. https://doi.org/10.3390/s20216029

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