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

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

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

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

Langue

Communication dans un congrès

Ce document a été publié dans

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

Résumé en anglais

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.< Réduire

Mots clés en anglais

Particle filter

UUV

Navigation inertielle

Bathymetry

Origine

Importé de hal

Unités de recherche

Institut de Mathématiques de Bordeaux (IMB) - UMR 5251