@inproceedings{774f556cd6a64e148ce80372255bc132,
title = "Neural network-aided adaptive UKF for integrated underwater navigation",
abstract = "Gravity aided navigation and geomagnetism aided navigation are equally important methods in the field of underwater navigation. However, the former is affected by terrain fluctuations, and the latter is sensitive to time-varying noise. Considering the characteristics that the gravity gradient vector can avoid the influence of time-varying noise and is less sensitive to terrain fluctuations, we propose to integrate the gravity gradient vector and geomagnetic vector together to achieve the merits of each aided navigation method. The gravity gradient vector and geomagnetic vector are used as measurement information from both local neural network-aided adaptive UKF filters, and then an information fusion algorithm based on weighted least squares estimation is used to combine the estimated values from each local filter to form an optimal estimated state value. Finally, the optimal estimated value is used to update the output values from each local neural network –aided adaptive UKF filter. Experimental results prove the feasibility of this integrated navigation method.",
keywords = "Adaptive UKF, Geomagnetic vector, Gravity gradient vector, Information fusion, Neural network, Underwater navigation, Weighted least square estimation",
author = "Meng Wu and Ying Weng",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 22nd International Conference on Neural Information Processing, ICONIP 2015 ; Conference date: 09-11-2015 Through 12-11-2015",
year = "2015",
doi = "10.1007/978-3-319-26535-3_35",
language = "English",
isbn = "9783319265346",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "301--310",
editor = "Lai, {Weng Kin} and Qingshan Liu and Tingwen Huang and Sabri Arik",
booktitle = "Neural Information Processing - 22nd International Conference, ICONIP 2015, Proceedings",
address = "Germany",
}