Tao Zhang

TL;DR: A new method based on the traditional single transponder method provides a theoretical basis for the determination of the iteration times to the USBL angle misalignment error estimation module and the underwater experiment results show that the positioning error could be reduced to less than 1 m after the angle misAlignment error compensation.

TL;DR: Under the Bayesian framework, a novel filtering approach named the fifth-degree variational Bayesian adaptive cubature Kalman filter is deduced for the in-motion alignment with a large azimuth misalignment angle and unknown and time-varying measurement noise statistics, which combines the iterative VB approach and 5th-CKF.

TL;DR: Simulations under coning vibrational environments showed that the new high-order attitude updating algorithm has higher attitude accuracy under highly dynamic vibrational conditions compared with the existing methods, which can improve the accuracy of inertial navigation.

TL;DR: Navigation experiments show that the velocity and position accuracies of the SINS are improved significantly after compensation with the calibration results, fully illustrating the significance of the proposed calibration method in improving the navigation performance.

TL;DR: A fast-initial alignment method with angular rate aiding based on robust Kalman filter based on a Huber’s M-estimation has been adopted to eliminate the external interferences, and the robustness of the proposed method has been improved.