Research on integrated navigation technology by using EPF federated filte

Huaen Hu, Aijun Zhang & Changming Wang

School of mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China

Pengcheng Fu

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 ...

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