A Hybrid Method for Dealing With DVL Faults of SINS/DVL Integrated Navigation System

Aiming at the situation that the underwater integrated navigation system is easy to be disturbed and the output is unavailable during the task of underwater vehicle, a RVBAKF/ LSTM hybrid method is proposed in this paper. Considering the actual underwater working environment of autonomous underwater...

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Veröffentlicht in:	IEEE sensors journal 2022-08, Vol.22 (16), p.15844-15854
Hauptverfasser:	Zhu, Jiupeng, Li, An, Qin, Fangjun, Chang, Lubin, Qian, Leiyuan
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation models Adaptive filters Angular velocity Autonomous underwater vehicles chi-square detection Chi-square test Covariance matrices Fault tolerance Information filters long short-term memory model Mathematical models Navigation Navigation systems Outliers (statistics) pseudo measurement robust adaptive filter Sensors SINS/DVL integrated navigation system Velocity Working conditions
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