Abstract
In order to overcome the problem that the conventional algorithms cannot be applied in the polar region, a polar initial alignment algorithm for Unmanned Underwater Vehicles (UUVs) with a large misalignment angle is proposed in this paper. The error model, the dynamics model and the observation model of the polar UUV initial alignment algorithm is established under the grid frame. This initial alignment algorithm is designed for the temporary anchoring UUV. According to the complex environment in the polar region, the large misalignment angle is considered instead of the small misalignment angle in other algorithms. An unscented Kalman filter is used to realize the data fusion. Based on the characteristics of the dynamics and the observation model, the unscented Kalman filter is simplified. The errors of the velocity are chosen as the observations. The misalignment angle of UUVs is estimated by the simplified unscented Kalman filter. The results demonstrate that the polar UUV initial alignment algorithm can be effective in improving the initial alignment accuracy, especially when large misalignment angles occur.
Highlights
The development of Unmanned Underwater Vehicles (UUVs) can be traced back to 1950s
The simplified Unscented Kalman filter (UKF) for the polar UUV initial alignment algorithm with a large misalignment angle can be expressed as follows
A polar UUV initial alignment algorithm with a large misalignment angle is proposed in this paper
Summary
The development of Unmanned Underwater Vehicles (UUVs) can be traced back to 1950s. From on, the intelligent level of UUVs has been gradually improving. The nonlinear error equations of UUV initial alignment algorithm need to be designed based on the grid frame in the polar region. The polar initial alignment error equations and dynamics models for UUV with a large misalignment angle are established based on the grid frame. The error equations of the polar UUV initial alignment algorithm with a large misalignment angle are deduced . Based on the grid frame and the hypothesis of a large misalignment angle, the attitude and velocity error equations of the polar UUV initial alignment algorithm are deduced . According to the relationships among the related frames, the attitude, the velocity, and the position error equations of the polar UUV initial alignment algorithm with a large misalignment angle can be expressed as follows
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
