A system for positioning underwater vehivles based on combination of IMU and Doppler speed measument enquipment

Abstract

This article describes the combination method of the inertial navigation equipment and the velocity meter based on the expanded Kalman filter in order to increase the precision of the underground vehicle’s velocity. The obtained results when tested on a turntable 3 degrees of freedom of Aerosmith and testing firm in underground rescue robot Rescue Fire Fighting University have demonstrated the correctness of the algorithm.