| IMM-EKF Target Localization Using Optimal Path Planned Unmanned Underwater Vehicle | |
| Sheng Xu; Yong Pan; Yongsheng Ou; Xinyu Wu | |
| 2018 | |
| 会议日期 | 2018 |
| 会议地点 | Kandima, Maldives |
| 英文摘要 | In many applications, the automated unmanned underwater vehicles (UUVs) equipped with different kinds of sensors have been utilized to localize a beacon target in the sea. This paper is concerned with the target localization using one optimal path planned mobile UUV. An interaction multiple model extended Kalman filter (IMM-EKF) using different types of measurements is developed to estimate the target state. To improve the estimation performance, a gradient ascent path optimization algorithm is proposed to steer the mobile UUV. The presented path optimization strategy minimizes the estimation mean squared error (MSE) by maximizing the determinant of the Fisher information matrix (FIM). The properties and effectiveness of the proposed algorithms are discussed and verified with simulation examples. |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13822]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Sheng Xu,Yong Pan,Yongsheng Ou,et al. IMM-EKF Target Localization Using Optimal Path Planned Unmanned Underwater Vehicle[C]. 见:. Kandima, Maldives. 2018. |
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