Huaen Hu, Aijun Zhang & Changming Wang
School of mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China
Beijing Special Electromechanical Technology Research Institute, Beijing, China
ABSTRACT: 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 ...