Multi-Scale Fusion Algorithm for AUVs Integrated Navigation Systems |
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Authors: | Yushan Sun Fanyu Wu Yuqi Wang Guocheng Zhang and Bin Kong |
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Affiliation: | Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China;Key Laboratory of System Control and Information Processing, Shanghai Jiao Tong University, Shanghai 200030, China;Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China;Wuhan Second Ship Design and Research Institute, Wuhan 430205, China |
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Abstract: | To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles (AUVs), a distributed fusion algorithm which combines the model''s analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV. First, integrated navigation system theory and system error sources are introduced in details. Secondly, a navigation system''s observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method, and noise reduction is performed by setting the wavelet de-noising threshold. At last, the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter. The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy. |
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Keywords: | autonomous underwater vehicles (AUVs) integrated navigation system wavelet transform multi-scale transform Kalman filter |
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