AOA Based CKF Adaptive Algorithm for AUV Navigation
- Resource Type
- Conference
- Authors
- Zhai, Ning; Zhang, Xin; Mu, Xiaokai; Zhang, Di; Zhou, Liqian; Lu, Feiyang; He, Bo
- Source
- OCEANS 2022, Hampton Roads OCEANS Hampton Roads, 2022. :1-5 Oct, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Geoscience
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Autonomous underwater vehicles
Uncertainty
Navigation
Roads
Oceans
Adaptive algorithms
Filtering algorithms
Autonomous Underwater Vehicle
Integrated Navigation
Kalman Filter
Archimedes optimization Algorithm
- Language
High precision navigation is an important prerequisite to realizing various functions of the Autonomous Underwater Vehicle (AUV). Observation noise is not fixed, and the uncertainty of observation noise would lead to the accumulation of navigation errors. Therefore, this paper proposes an Archimedes optimization Algorithm (AOA) based Cubature Kalman Filter (CKF) adaptive navigation algorithm. The real experimental data of the self-developed underwater vehicle are processed to evaluate the performance of the algorithm. Experimental results show that the algorithm can improve the navigation accuracy compared with the traditional method.