Attention-Augmented LSTM Feed-Forward Compensation for Lever-Arm-Induced Velocity Errors in Transfer Alignment

In a mother–child underwater bio-inspired robotic system, the equivalent lever arm between the master and slave inertial navigation systems (INSs) varies with launcher attitude changes and structural flexure. This time-varying lever arm introduces hard-to-model systematic velocity errors that degrad...

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Autori principali:	Shuang Pan, Guangyao Yan, Dongping Sun, Binghong Liang, Linping Feng
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	MDPI AG 2026-01-01
Serie:	Biomimetics
Soggetti:	underwater bio-inspired robot inertial navigation system transfer alignment lever-arm effect Attention-LSTM AKF
Accesso online:	https://www.mdpi.com/2313-7673/11/1/32
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