A UKF-Based Navigation Simulation Program for Underwater Vehicles
- Login to Download
- 1 Credits
Resource Overview
An underwater vehicle navigation simulation program based on Unscented Kalman Filter (UKF) for state estimation
Detailed Documentation
In this article, we present a navigation simulation program for underwater vehicles based on the Unscented Kalman Filter (UKF) algorithm. The program implements UKF to estimate the vehicle's position and velocity states while incorporating environmental factors such as water currents and temperature effects. The implementation includes sensor models for simulating measurement data and noise models to represent real-world uncertainties. Key algorithmic components include sigma point generation for nonlinear transformation, measurement update equations, and covariance propagation. This simulation framework helps researchers better understand underwater navigation principles and provides reference for future underwater vehicle design through parameter tuning and performance analysis capabilities.
- Login to Download
- 1 Credits