부산대학교 도서관

The integrated navigation of strapdown inertial navigation system (SINS)/ ultra-short baseline (USBL) has been widely used for the high precision navigation and positioning technology of Autonomous Underwater Vehicle (AUV). The tightly coupled method that directly uses the original information measured by USBL has high accuracy, which reduces the error in the process of position calculation in loosely coupled method. However, affected by the complex underwater acoustic environment, the statistical characteristics of USBL measurement are unknown or time-varying, which also contain irregular outliers. To solve the above problems, a robust Kalman filter based on Huber M and variational Bayes (VB) are introduced into the tightly coupled method. To improve the accuracy of statistical characteristics with outliers, the chi-square test is introduced and the simulation results verify the effectiveness of the robust filter and the simulation results verify the effectiveness of the introduced algorithm.