An Improved Unscented Kalman Filter Applied to Positioning and Navigation of Autonomous Underwater Vehicles

To enhance the positioning accuracy of autonomous underwater vehicles (AUVs), a new adaptive filtering algorithm (RHAUKF) is proposed. The most widely used filtering algorithm is the traditional Unscented Kalman Filter or the Adaptive Robust UKF (ARUKF). Excessive noise interference may cause a decr...

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Autores principales:	Jinchao Zhao, Ya Zhang, Shizhong Li, Jiaxuan Wang, Lingling Fang, Luoyin Ning, Jinghao Feng, Jianwu Zhang
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2025-01-01
Colección:	Sensors
Materias:	unscented Kalman filter inertial navigation system unmanned underwater vehicle integrated navigation
Acceso en línea:	https://www.mdpi.com/1424-8220/25/2/551
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