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Published in:
2013 | OriginalPaper | Chapter
UKF Applied for Position Estimation of Underwater-Beacon Precision
Authors : Ba-Da Yoon, Ha-Nul Yoon, Sung-He Choi, Jang-Myung Lee
Published in: Intelligent Autonomous Systems 12
Publisher: Springer Berlin Heidelberg
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A location estimation algorithm based on underwater beacon was proposed in this paper. Location estimation of beacon is prerequisite to the underwater localization and communication. Unscented Kalman Filter is verified through MATLAB simulations and experiments in real-time environments. And performance of Unscented Kalman Filter was evaluated through underwater-BEACON. In This experiments, MCU of Underwater-BEACON was used DSP(TMS320F28335). INS(Gyroscope Sensor, Accelerometer Sensor, Magnetic Compass) and GPS was Used for the location estimation of underwater BEACON. UKF combined GPS signals and INS signals to design Underwater vehicle’s nonlinearity and non-normal distribution. Underwater-BEACON applies UKF. It can see that fewer errors were occurring.