Sea current relative navigation using interacting multiple model filter with adaptive fading technique

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2022-08-22 DOI:10.1017/S0373463322000431

Jaehyuck Cha, Jeong Ho Hwang, Chan-Gook Park

{"title":"Sea current relative navigation using interacting multiple model filter with adaptive fading technique","authors":"Jaehyuck Cha, Jeong Ho Hwang, Chan-Gook Park","doi":"10.1017/S0373463322000431","DOIUrl":null,"url":null,"abstract":"Abstract In this paper, we propose a sea current relative navigation method using an interacting multiple model (IMM) filter with adaptive fading technique that can compensate an inaccurate sea current dynamics model. Due to the marine environment, the underwater vehicles largely depend on inertial navigation. Unfortunately, since its performance deteriorates with time, it is usually aided by another sensor. An electromagnetic-log (EM-log) and a Doppler velocity log (DVL), which are mainly used in marine navigation, provide relative velocity measurements to the sea currents, and hence require an accurate sea current dynamics model to fully utilise them. However, it is difficult to reflect the actual sea current changes with just a single fixed model, resulting in degraded overall navigation performance. Therefore, this paper proposes an IMM filter that can use multiple sea current dynamics models and has sub-filters designed with adaptive fading extended Kalman filter (AFEKF) to compensate for the mismodelling of sea current dynamics. The method is verified by simulation and shows a performance improvement comparable to the optimal filter.","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":null,"pages":null},"PeriodicalIF":16.4000,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1017/S0373463322000431","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

Abstract In this paper, we propose a sea current relative navigation method using an interacting multiple model (IMM) filter with adaptive fading technique that can compensate an inaccurate sea current dynamics model. Due to the marine environment, the underwater vehicles largely depend on inertial navigation. Unfortunately, since its performance deteriorates with time, it is usually aided by another sensor. An electromagnetic-log (EM-log) and a Doppler velocity log (DVL), which are mainly used in marine navigation, provide relative velocity measurements to the sea currents, and hence require an accurate sea current dynamics model to fully utilise them. However, it is difficult to reflect the actual sea current changes with just a single fixed model, resulting in degraded overall navigation performance. Therefore, this paper proposes an IMM filter that can use multiple sea current dynamics models and has sub-filters designed with adaptive fading extended Kalman filter (AFEKF) to compensate for the mismodelling of sea current dynamics. The method is verified by simulation and shows a performance improvement comparable to the optimal filter.

查看原文本刊更多论文

基于自适应衰落技术的交互多模型滤波器的海流相对导航

摘要在本文中，我们提出了一种海流相对导航方法，该方法使用具有自适应衰落技术的交互多模型（IMM）滤波器，可以补偿不准确的海流动力学模型。由于海洋环境的原因，水下航行器在很大程度上依赖惯性导航。不幸的是，由于它的性能会随着时间的推移而恶化，它通常会得到另一个传感器的帮助。主要用于海洋导航的电磁测井（EM log）和多普勒速度测井（DVL）提供了对洋流的相对速度测量，因此需要精确的洋流动力学模型来充分利用它们。然而，仅仅用一个固定的模型很难反映实际的海流变化，导致整体导航性能下降。因此，本文提出了一种IMM滤波器，该滤波器可以使用多个海流动力学模型，并使用自适应衰落扩展卡尔曼滤波器（AFEKF）设计子滤波器来补偿海流动力学的建模错误。通过仿真验证了该方法，并显示出与最优滤波器相当的性能改进。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.