Dead reckoning for the mini underwater vehicle based on improved strong tracking Kalman filter
Lihong Wu · Journal of Dalian Maritime University · 2011
Aiming at underwater navigation problem for the mini underwater vehicle with low speed,a method of dead reckoning based on improved strong tracking Kalman filter was proposed.Sage-Husa measuring noise estimator and adaptive regulatory factor were introduced,and the tracking ability of filter was strengthened even for the mini underwater vehicle with low speed by changing the value of the evanescent factor,so that the precision was improved.Simulation based on SY-1 underwater vehicle verifies the feasibility and effectivity.