Interacting Weighted Ensemble Kalman Filter applied to Underwater Terrain Aided Navigation
Language
en
Communication dans un congrès
This item was published in
ACC 2021 - American Control Conference, 2021-05-25, New Orleans / Virtual.
English Abstract
Terrain Aided Navigation (TAN) provides a driftfree navigation approach for Unmanned Underwater Vehicles. This paper focuses on an improved version of the Weighted Ensemble Kalman Filter (WEnKF) to solve the TAN problem. ...Read more >
Terrain Aided Navigation (TAN) provides a driftfree navigation approach for Unmanned Underwater Vehicles. This paper focuses on an improved version of the Weighted Ensemble Kalman Filter (WEnKF) to solve the TAN problem. We analyze some theoretical limitations of the WEnKF and derive an improved version which ensures that the asymptotic variance of weights remains bounded. This improvement results in an enhanced robustness to nonlinearities in practice. Numerical results are presented and the robustness is demonstrated with respect to conventional WEnKF, yielding twice as less nonconvergence cases.Read less <
English Keywords
Particle filter
UUV
Navigation inertielle
Bathymetry
Origin
Hal imported