Cart (Loading....) | Create Account
Close category search window
 

Preventing extended Kalman filter instabilities during two transponder long baseline navigation with real time fuzzy logic parameter adjustment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Pentzer, J. ; Center for Intell. Syst. Res., Univ. of Idaho, Moscow, ID, USA ; Armstrong, B. ; Bean, T. ; Anderson, M.
more authors

Through simulation and field testing of autonomous underwater vehicles (AUVs) it has been identified that when an extended Kalman filter is used with a two transponder long baseline (LBL) positioning system instabilities can occur when range updates are introduced to the filter. This paper describes two possible algorithms to prevent the instability. The instability is dependent on the location of the vehicle relative to the transponders during the measurement. The algorithms compensate for the instability by adjusting the range measurement standard deviation parameter R in the Kalman filter. The first algorithm uses the perpendicular distance from the line between transponders and the estimated position as an input to a fuzzy logic algorithm. The second algorithm uses the cosine of the angle between vectors drawn from the estimated position of the vehicle to each transponder, beta, as an input. Monte Carlo results show that both methods were successful at eliminating the instability; however, the beta algorithm produced better overall results.

Published in:

OCEANS 2009 - EUROPE

Date of Conference:

11-14 May 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.