Research on integrated navigation technology by using EPF federated filte
Huaen Hu, Aijun Zhang, Changming Wang, Pengcheng Fu · Environmental Science and Information Application Technology · 2015
Owing to the precision faults of underwater robot navigation and position which is caused by prior statistical characteristics and actual inconsistently, extended Kalman Particle Filter (EPF) federated filtering algorithm is put forward. Federated filter is established for SINS/DVL/DR integrated navigation system. Use EPF localized filtering. SINS/DVL/DR simulation experiments show that this algorithm confirms higher filtering precision and robustness.