PALMIER, Camille; DAHIA, Karim; MERLINGE, Nicolas; LANEUVILLE, Dann; DEL MORAL, Pierre

Metadatos

Mostrar el registro completo del ítem

Licencia de uso del documento

PALMIER, Camille
DTIS, ONERA, Université Paris Saclay [Palaiseau]

DAHIA, Karim
DTIS, ONERA, Université Paris Saclay [Palaiseau]

MERLINGE, Nicolas
DTIS, ONERA, Université Paris Saclay [Palaiseau]

Idioma

Communication dans un congrès

Este ítem está publicado en

ACC 2021 - American Control Conference, 2021-05-25, New Orleans / Virtual.

Resumen en inglés

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.< Leer menos

Palabras clave en inglés

Particle filter

UUV

Navigation inertielle

Bathymetry

Orígen

Importado de Hal

Centros de investigación

Institut de Mathématiques de Bordeaux (IMB) - UMR 5251