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In the conventional integrated navigation systems, such as direct Kalman filter, the statistical information of the process and measurement noises is considered constant. In real applications, due to the variation of vehicle dynamics, the environmental conditions and imperfect knowledge of the filter statistical information, the process and measurement covariance matrices are unknown and time dependent...
This paper presents an asynchronous direct Kalman filter (ADKF) approach for underwater integrated navigation system to improve the performance of the prevalent indirect Kalman filter structure. The designed navigation system is composed of a strapdown inertial navigation system (SDINS) along with Doppler Velocity Log, inclinometer, and depthmeter. In the proposed approach, prediction procedure is...
Strapdown Inertial Navigation System (SINS) estimates position, velocity, and attitude of vehicle using the signals measured by accelerometer and gyroscope and is based on dead-reckoning principle. Due to different imperfections in measurements, and the consecutive integration of the acceleration signals, estimation error increases with time and it is acceptable only for short times in the low cost...
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