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Multi-sensor Integrated Navigation System
Author(s): 
Pages: 34-38
Year: Issue:  5
Journal: Hydrographic Surveying and Charting

Keyword:  AUVmulti-Sensorintegrated navigationparticle filtermixed federal filter;
Abstract: In order to meet the needs of high-precision navigation and positioning for the Autonomous Underwater Vehicle (AUV),the multi-Sensor integrated navigation system model is established.The mixed federal filter is proposed based on the traditional federal filter to aim at the non-linear course in the information fusion process.The Kalman filter is applied in the linear subsystem and particle filter is applied in the non-linear subsystem.The computer simulation results show that the linear and nonlinear filtering subsystem can be well fused together by the mixed federal filtering algorithm,and the navigation positioning accuracy is greatly improved.
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