Adaptive Federated IMM Filter for AUV Integrated Navigation Systems
1
School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China
2
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China
3
School of Civil and Environmental Engineering, University of New South Wales, Sydney, NSW 2052, Australia
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(23), 6806; https://doi.org/10.3390/s20236806
Received: 21 September 2020
/
Revised: 22 November 2020
/
Accepted: 24 November 2020
/
Published: 28 November 2020
(This article belongs to the Special Issue Inertial Sensors and Systems in 2020)
High accuracy and reliable navigation in the underwater environment is very critical for the operations of autonomous underwater vehicles (AUVs). This paper proposes an adaptive federated interacting multiple model (IMM) filter, which combines adaptive federated filter and IMM algorithm for AUV in complex underwater environments. Based on the performance of each local system, the information sharing coefficient of the adaptive federated IMM filter is adaptively determined. Meanwhile, the adaptive federated IMM filter designs different models for each local system. When the external disturbances change, the model of each local system can switch in real-time. Furthermore, an AUV integrated navigation system model is constructed, which includes the dynamic model of the system error and the measurement models of strapdown inertial navigation system/Doppler velocity log (SINS/DVL) and SINS/terrain aided navigation (SINS/TAN). The integrated navigation experiments demonstrate that the proposed filter can dramatically improve the accuracy and reliability of the integrated navigation system. Additionally, it has obvious advantages compared with the federated Kalman filter and the adaptive federated Kalman filter.
View Full-Text
Keywords:
AUV; federated Kalman filter; integrated navigation; information sharing coefficient; interacting multiple model (IMM)
▼
Show Figures
Figure 1
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
MDPI and ACS Style
Lyu, W.; Cheng, X.; Wang, J. Adaptive Federated IMM Filter for AUV Integrated Navigation Systems. Sensors 2020, 20, 6806. https://doi.org/10.3390/s20236806
AMA Style
Lyu W, Cheng X, Wang J. Adaptive Federated IMM Filter for AUV Integrated Navigation Systems. Sensors. 2020; 20(23):6806. https://doi.org/10.3390/s20236806
Chicago/Turabian StyleLyu, Weiwei, Xianghong Cheng, and Jinling Wang. 2020. "Adaptive Federated IMM Filter for AUV Integrated Navigation Systems" Sensors 20, no. 23: 6806. https://doi.org/10.3390/s20236806
Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.
