Interacting Weighted Ensemble Kalman Filter applied to Underwater Terrain Aided Navigation
| hal.structure.identifier | DTIS, ONERA, Université Paris Saclay [Palaiseau] | |
| dc.contributor.author | PALMIER, Camille | |
| hal.structure.identifier | DTIS, ONERA, Université Paris Saclay [Palaiseau] | |
| dc.contributor.author | DAHIA, Karim | |
| hal.structure.identifier | DTIS, ONERA, Université Paris Saclay [Palaiseau] | |
| dc.contributor.author | MERLINGE, Nicolas | |
| hal.structure.identifier | Naval Group | |
| dc.contributor.author | LANEUVILLE, Dann | |
| hal.structure.identifier | Méthodes avancées d’apprentissage statistique et de contrôle [ASTRAL] | |
| dc.contributor.author | DEL MORAL, Pierre | |
| dc.date.conference | 2021-05-25 | |
| dc.description.abstractEn | 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. | |
| dc.language.iso | en | |
| dc.subject.en | Particle filter | |
| dc.subject.en | UUV | |
| dc.subject.en | Navigation inertielle | |
| dc.subject.en | Bathymetry | |
| dc.title.en | Interacting Weighted Ensemble Kalman Filter applied to Underwater Terrain Aided Navigation | |
| dc.type | Communication dans un congrès | |
| dc.subject.hal | Sciences de l'ingénieur [physics] | |
| dc.subject.hal | Chimie | |
| dc.subject.hal | Informatique [cs] | |
| dc.subject.hal | Mathématiques [math] | |
| dc.subject.hal | Physique [physics] | |
| bordeaux.conference.title | ACC 2021 - American Control Conference | |
| bordeaux.country | US | |
| bordeaux.conference.city | New Orleans / Virtual | |
| bordeaux.peerReviewed | oui | |
| hal.identifier | hal-03248265 | |
| hal.version | 1 | |
| hal.invited | non | |
| hal.proceedings | non | |
| hal.conference.end | 2021-05-28 | |
| hal.popular | non | |
| hal.audience | Internationale | |
| hal.origin.link | https://hal.archives-ouvertes.fr//hal-03248265v1 | |
| bordeaux.COinS | ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.au=PALMIER,%20Camille&DAHIA,%20Karim&MERLINGE,%20Nicolas&LANEUVILLE,%20Dann&DEL%20MORAL,%20Pierre&rft.genre=unknown |
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