An underwater mining navigation method based on an improved particle filter | |
Zhang ZH(张志慧)3,4,5; Feng YB(冯迎宾)4,5; Li ZG(李智刚)4,5; Zhao XH(赵小虎)3,4,5; Zhang ZH(张志慧)1,2,6; Feng YB(冯迎宾)1,6; Li ZG(李智刚)1,6; Zhao XH(赵小虎)1,2,6 | |
刊名 | 中国科学院大学学报 |
2020 | |
卷号 | 37期号:4页码:507-515 |
关键词 | particle filter ( PF) resampling underwater mining navigation particle degeneration particle impoverishment |
ISSN号 | 2095-6134 |
其他题名 | 一种基于改进粒子滤波的水下采矿导航方法 |
产权排序 | 1 |
英文摘要 | An underwater mining navigation method based on an improved particle filter ( PF) is proposed to solve the problems of non-Gaussian and intense measurement noise during underwater mining,and a new resampling algorithm is designed,as an improvement,to eliminate the influences of particle degeneration and particle impoverishment of PF. Compared to the resampling algorithms, the proposed algorithm avoids particle impoverishment and improves estimation accuracy. Finally, the estimation accuracies of underwater mining navigation algorithms based on the improved PF and the unscented Kalman filter ( UKF) are compared by combining the lake trial data and underwater mining navigation model. The results of simulation experiments manifest that the proposed method has more accurate estimation and remarkable robustness. |
语种 | 英语 |
CSCD记录号 | CSCD:6763560 |
资助机构 | National Key Research and Development Program of China (2016YFC0304102-6) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/27322] |
专题 | 沈阳自动化研究所_水下机器人研究室 |
通讯作者 | Zhang ZH(张志慧); Zhang ZH(张志慧) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences, Shenyang 110169, China 5.State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang 110016, China 6.Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences, Shenyang 110169, China |
推荐引用方式 GB/T 7714 | Zhang ZH,Feng YB,Li ZG,et al. An underwater mining navigation method based on an improved particle filter[J]. 中国科学院大学学报,2020,37(4):507-515. |
APA | Zhang ZH.,Feng YB.,Li ZG.,Zhao XH.,Zhang ZH.,...&Zhao XH.(2020).An underwater mining navigation method based on an improved particle filter.中国科学院大学学报,37(4),507-515. |
MLA | Zhang ZH,et al."An underwater mining navigation method based on an improved particle filter".中国科学院大学学报 37.4(2020):507-515. |
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