A novel vertical channel damping loop design method that uses not only a depth sensor but also a Doppler velocity log (DVL) for underwater vehicles is proposed. In the proposed method, the loop gains are calculated by adopting the steady-state Kalman filter gain with consideration of characteristics of the depth sensor and the DVL. The simulation results demonstrate that the proposed method achieves better performance than the conventional method.
Bibliographical notePublisher Copyright:
© 2015 The Institution of Engineering and Technology.
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering