Dual-Mode Square Root Cubature Kalman Filter for Miniaturized Underwater Profiler Dead Reckoning

Abstract

Miniaturized underwater profilers have the advantages of small size, low cost, and flexible deployment, which play together an important role in the persistent monitoring of a designated ocean area. Based on the demand for ocean observation, the system design, dynamic modeling, and dead reckoning algorithm of a miniaturized underwater profiler are carried out. The process of the persistent monitoring of designated area with a miniaturized underwater profiler is analyzed, and the overall structure of the miniaturized underwater profiler was designed. Additionally, the kinematic and dynamic model of the miniaturized underwater profiler is given based on the inertial and body coordinate systems. Then, according to the state equation and the observation equation of the miniaturized underwater profiler, a dual-mode square root cubature Kalman filter (DSRCKF) algorithm, combining standard SRCKF and adaptive SRCKF, is proposed for the dead reckoning of the miniaturized underwater profiler. Finally, a comprehensive comparison of EKF, UKF, CKF, SRCKF, and DSRCKF and the associated simulations and experiments are conducted to verify the performance of the underwater dead reckoning algorithm for the miniaturized underwater profiler. The results show that the DSRCKF algorithm has a certain role in the dead reckoning of the miniaturized underwater profiler, particularly in the z direction and attitude. In future, a real underwater dead reckoning test using miniaturized underwater profiler will be carried out.