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Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle
The conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar tra...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2018
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6210246/ https://www.ncbi.nlm.nih.gov/pubmed/30257525 http://dx.doi.org/10.3390/s18103231 |
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author | Yan, Zheping Wang, Lu Wang, Tongda Zhang, Honghan Yang, Zewen |
author_facet | Yan, Zheping Wang, Lu Wang, Tongda Zhang, Honghan Yang, Zewen |
author_sort | Yan, Zheping |
collection | PubMed |
description | The conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar transversal initial alignment algorithm is proposed to overcome this problem. In the polar transversal initial alignment algorithm, the transversal geographic frame is chosen as the navigation frame. The polar region in the conventional frames is equivalent to the equatorial region in the transversal frames. Therefore, the polar transversal initial can be effectively applied in the polar region. According to the complex environment in the polar region, a large misalignment angle is considered in this paper. Based on the large misalignment angle condition, the non-linear dynamics models are established. In addition, the simplified unscented Kalman filter (UKF) is chosen to realize the data fusion. Two comparison simulations and an experiment are performed to verify the performance of the proposed algorithm. The simulation and experiment results indicate the validity of the proposed algorithm, especially when large misalignment angles occur. |
format | Online Article Text |
id | pubmed-6210246 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2018 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-62102462018-11-02 Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle Yan, Zheping Wang, Lu Wang, Tongda Zhang, Honghan Yang, Zewen Sensors (Basel) Article The conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar transversal initial alignment algorithm is proposed to overcome this problem. In the polar transversal initial alignment algorithm, the transversal geographic frame is chosen as the navigation frame. The polar region in the conventional frames is equivalent to the equatorial region in the transversal frames. Therefore, the polar transversal initial can be effectively applied in the polar region. According to the complex environment in the polar region, a large misalignment angle is considered in this paper. Based on the large misalignment angle condition, the non-linear dynamics models are established. In addition, the simplified unscented Kalman filter (UKF) is chosen to realize the data fusion. Two comparison simulations and an experiment are performed to verify the performance of the proposed algorithm. The simulation and experiment results indicate the validity of the proposed algorithm, especially when large misalignment angles occur. MDPI 2018-09-25 /pmc/articles/PMC6210246/ /pubmed/30257525 http://dx.doi.org/10.3390/s18103231 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Yan, Zheping Wang, Lu Wang, Tongda Zhang, Honghan Yang, Zewen Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
title | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
title_full | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
title_fullStr | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
title_full_unstemmed | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
title_short | Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle |
title_sort | polar transversal initial alignment algorithm for uuv with a large misalignment angle |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6210246/ https://www.ncbi.nlm.nih.gov/pubmed/30257525 http://dx.doi.org/10.3390/s18103231 |
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