{
  "$type": "site.standard.document",
  "description": "A motion constraint-aided underwater integrated navigation method employing improved Sage-Husa adaptive filtering includes establishing a Doppler log error model; constructing a state equation for an underwater integrated navigation system employing Kalman filtering; according to a relationship…",
  "path": "/patents/1333900",
  "publishedAt": "2022-12-22T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/20",
    "SOUTHEAST UNIVERSITY"
  ],
  "textContent": "A motion constraint-aided underwater integrated navigation method employing improved Sage-Husa adaptive filtering includes establishing a Doppler log error model; constructing a state equation for an underwater integrated navigation system employing Kalman filtering; according to a relationship between a centripetal acceleration and a forward velocity of an underwater vehicle, establishing a constraint condition, and constructing a complete motion constraint model; establishing two measurement equations; and establishing a filter equation, conducting calculation by using a standard Kalman filtering algorithm when an underwater glider normally runs, and conducting time updating, measurement updating and filtering updating by using an improved Sage-Husa adaptive filtering algorithm when a measurement noise varies. The motion constraint-aided underwater integrated navigation method improves a filtering accuracy of the underwater integrated navigation system, restrains a filter divergence and has robustness and reliability.",
  "title": "MOTION CONSTRAINT-AIDED UNDERWATER INTEGRATED NAVIGATION METHOD EMPLOYING IMPROVED SAGE-HUSA ADAPTIVE FILTERING"
}