In-motion fine alignment algorithm for AUV based on improved extended state observer and Kalman filter
Achieving fast initial alignment has always been a major challenge for autonomous underwater vehicle navigation, especially in motion. During the fine alignment process, traditional algorithms often face the slow convergence of the azimuth misalignment angle. To solve this problem, this paper propos...
Saved in:
| Published in | Measurement science & technology Vol. 35; no. 12; p. 126305 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
01.12.2024
|
| Online Access | Get full text |
| ISSN | 0957-0233 1361-6501 |
| DOI | 10.1088/1361-6501/ad7876 |
Cover
| Abstract | Achieving fast initial alignment has always been a major challenge for autonomous underwater vehicle navigation, especially in motion. During the fine alignment process, traditional algorithms often face the slow convergence of the azimuth misalignment angle. To solve this problem, this paper proposes a fast alignment algorithm based on the improved extended state observer (ESO) and Kalman filter. Specifically, since the application potential of ESO in fine alignment has not been fully explored by previous studies, this paper introduces the improved ESO through the in-depth research of traditional ESO. The obtained improved ESO is then combined with Kalman filter to constitute the proposed fast alignment algorithm. The algorithm first uses Kalman filter to estimate the two horizontal misalignment angles. Once the horizontal angles estimation of Kalman filter tends to be stable, the improved ESO is used to estimate the azimuth misalignment angle. Simulation and lake test show the proposed algorithm has excellent performance of in-motion alignment. The comparative analysis shows that the algorithm significantly improves the convergence speed of azimuth alignment angle. |
|---|---|
| AbstractList | Achieving fast initial alignment has always been a major challenge for autonomous underwater vehicle navigation, especially in motion. During the fine alignment process, traditional algorithms often face the slow convergence of the azimuth misalignment angle. To solve this problem, this paper proposes a fast alignment algorithm based on the improved extended state observer (ESO) and Kalman filter. Specifically, since the application potential of ESO in fine alignment has not been fully explored by previous studies, this paper introduces the improved ESO through the in-depth research of traditional ESO. The obtained improved ESO is then combined with Kalman filter to constitute the proposed fast alignment algorithm. The algorithm first uses Kalman filter to estimate the two horizontal misalignment angles. Once the horizontal angles estimation of Kalman filter tends to be stable, the improved ESO is used to estimate the azimuth misalignment angle. Simulation and lake test show the proposed algorithm has excellent performance of in-motion alignment. The comparative analysis shows that the algorithm significantly improves the convergence speed of azimuth alignment angle. |
| Author | Wang, Zihao Zhou, Shiyin Miao, Jianming Xu, Lingji Zhang, Haosu Ma, Cheng |
| Author_xml | – sequence: 1 givenname: Cheng surname: Ma fullname: Ma, Cheng – sequence: 2 givenname: Shiyin surname: Zhou fullname: Zhou, Shiyin – sequence: 3 givenname: Zihao surname: Wang fullname: Wang, Zihao – sequence: 4 givenname: Haosu orcidid: 0000-0002-3252-8331 surname: Zhang fullname: Zhang, Haosu – sequence: 5 givenname: Lingji surname: Xu fullname: Xu, Lingji – sequence: 6 givenname: Jianming surname: Miao fullname: Miao, Jianming |
| BookMark | eNo9kF1LwzAYhYNMsJvee5k_UPemadPkcgw_hgNvnLclbd_MSpOMJAz997ZMvDoPh8O5eJZk4bxDQu4ZPDCQcs24YLmogK11X8taXJHsv1qQDFRV51BwfkOWMX4BQA1KZcTsXG59GryjZnBI9TgcnUWXJjr6MKRPS40PdHP4oK2O2NNpOdhT8OeJ8Tuh6yeISSekvo0Yzhiodj191aPV8-uYMNySa6PHiHd_uSKHp8f37Uu-f3vebTf7vGNKpLyUWhrZSa0KKXhVlUxJ0wtZFkVfGOjati5ACFm3huGU05SrzhgsO8VFxfiKwOW3Cz7GgKY5hcHq8NMwaGZPzSylmaU0F0_8F9bgXdE |
| Cites_doi | 10.1109/TAES.2011.6034671 10.1177/0142331216649019 10.1177/09596518221104532 10.1109/ACCESS.2019.2897638 10.1109/JOE.2010.2052691 10.1109/TVT.2018.2876469 10.1109/TIE.2019.2910045 10.1017/S0373463317000340 10.1016/j.isatra.2020.09.007 10.1109/7.165367 10.1109/7.165368 10.1016/j.ast.2020.105747 10.1109/JOE.2013.2278891 10.1088/1361-6501/aae918 10.1109/TIM.2014.2359516 10.1016/j.ast.2014.01.008 10.1088/1361-6501/aad466 10.1109/JSEN.2021.3085742 10.1088/1361-6501/acd9e1 10.1016/j.ejcon.2017.01.002 10.1109/TVT.2020.2972526 10.1109/TMECH.2020.2982199 10.1109/ChiCC.2014.6896703 10.1016/j.isatra.2017.09.002 10.1109/ICMTMA.2010.472 10.1109/TIM.2023.3239925 10.1016/j.sysconle.2011.03.008 10.1016/j.measurement.2013.09.022 10.1109/WCICA.2012.6358137 10.23919/ChiCC.2017.8027481 10.1109/TIE.2018.2818673 10.1109/7.543857 10.1109/TCYB.2018.2890582 10.1016/j.isatra.2008.06.004 10.1109/TVT.2021.3099126 10.1109/TVT.2022.3162636 10.1109/TITS.2020.3044084 10.1109/TIM.2017.2692311 10.1016/j.oceaneng.2015.12.058 10.1109/TIM.2011.2113131 10.1109/tim.2020.3020682 |
| ContentType | Journal Article |
| DBID | AAYXX CITATION |
| DOI | 10.1088/1361-6501/ad7876 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | CrossRef |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Sciences (General) Physics |
| EISSN | 1361-6501 |
| ExternalDocumentID | 10_1088_1361_6501_ad7876 |
| GroupedDBID | -DZ -~X .DC 1JI 4.4 5B3 5GY 5PX 5VS 5ZH 7.M 7.Q AAGCD AAGID AAHTB AAJIO AAJKP AATNI AAYXX ABCXL ABHWH ABJNI ABPEJ ABQJV ABVAM ACAFW ACBEA ACGFO ACGFS ACHIP ADEQX AEFHF AEINN AENEX AFYNE AKPSB ALMA_UNASSIGNED_HOLDINGS AOAED ASPBG ATQHT AVWKF AZFZN CBCFC CEBXE CITATION CJUJL CRLBU CS3 DU5 EBS EDWGO EMSAF EPQRW EQZZN F5P IHE IJHAN IOP IZVLO KOT LAP N5L N9A P2P PJBAE R4D RIN RNS RO9 ROL RPA SY9 TAE TN5 TWZ W28 WH7 XPP YQT ZMT ~02 |
| ID | FETCH-LOGICAL-c196t-48a8f8c8a92863554198fd68422d2f0cbb7206687bf1e6688c839cffe4c936513 |
| ISSN | 0957-0233 |
| IngestDate | Wed Oct 01 02:22:57 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 12 |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c196t-48a8f8c8a92863554198fd68422d2f0cbb7206687bf1e6688c839cffe4c936513 |
| ORCID | 0000-0002-3252-8331 |
| ParticipantIDs | crossref_primary_10_1088_1361_6501_ad7876 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2024-12-01 |
| PublicationDateYYYYMMDD | 2024-12-01 |
| PublicationDate_xml | – month: 12 year: 2024 text: 2024-12-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationTitle | Measurement science & technology |
| PublicationYear | 2024 |
| References | Gao (mstad7876bib26) 2011; 47 Guo (mstad7876bib36) 2011; 60 Yu (mstad7876bib1) 2020; 50 Yue (mstad7876bib38) 2023; 72 Ma (mstad7876bib2) 2018; 29 Fu (mstad7876bib9) 2020; 99 Xu (mstad7876bib15) 2020; 25 Xu (mstad7876bib13) 2022; 71 Xue (mstad7876bib18) 2017; 70 Fu (mstad7876bib30) 2017; 71 Bai (mstad7876bib31) 2017; 35 Kori (mstad7876bib29) 2014; 33 Silson (mstad7876bib16) 2011; 60 Xu (mstad7876bib17) 2017; 66 Huang (mstad7876bib5) 2021; 70 Jin (mstad7876bib7) 2023; 34 Zhang (mstad7876bib35) 2012 Yao (mstad7876bib8) 2020; 69 Du (mstad7876bib20) 2016; 38 Chang (mstad7876bib25) 2015; 64 Lu (mstad7876bib27) 2019; 30 Miller (mstad7876bib6) 2010; 35 Allotta (mstad7876bib3) 2016; 67 Li (mstad7876bib19) 2014; 47 Li (mstad7876bib40) 2014 Goshen-Meskin (mstad7876bib42) 1992; 28 Xu (mstad7876bib11) 2022; 23 Liu (mstad7876bib12) 2020; 67 Chung (mstad7876bib21) 1996; 32 Pei (mstad7876bib22) 2021; 70 Goshen-Meskin (mstad7876bib41) 1992; 28 Shao (mstad7876bib10) 2018; 65 Lakomy (mstad7876bib34) 2021; 109 Yao (mstad7876bib14) 2021; 21 Yang (mstad7876bib37) 2017 Paull (mstad7876bib4) 2014; 39 Sun (mstad7876bib28) 2019; 7 Li (mstad7876bib23) 2018; 67 Ye (mstad7876bib33) 2010 Zheng (mstad7876bib39) 2022; 236 Yan (mstad7876bib24) 2008 Yan (mstad7876bib32) 2008; 47 |
| References_xml | – volume: 47 start-page: 2887 year: 2011 ident: mstad7876bib26 article-title: Rapid fine strapdown INS alignment method under marine mooring condition publication-title: IEEE Trans. Aerosp. Electron. Syst. doi: 10.1109/TAES.2011.6034671 – volume: 38 start-page: 1261 year: 2016 ident: mstad7876bib20 article-title: A fast initial alignment for SINS based on disturbance observer and Kalman filter publication-title: Trans. Inst. Meas. Control doi: 10.1177/0142331216649019 – volume: 236 start-page: 1649 year: 2022 ident: mstad7876bib39 article-title: Improved modeling and active disturbance rejection control of tank gun control system publication-title: Proc. Inst. Mech. Eng. I doi: 10.1177/09596518221104532 – volume: 7 start-page: 20211 year: 2019 ident: mstad7876bib28 article-title: In-motion attitude and position alignment for odometer-aided SINS based on backtracking scheme publication-title: IEEE Access doi: 10.1109/ACCESS.2019.2897638 – volume: 35 start-page: 663 year: 2010 ident: mstad7876bib6 article-title: Autonomous underwater vehicle navigation publication-title: IEEE J. Ocean. Eng. doi: 10.1109/JOE.2010.2052691 – volume: 67 start-page: 11402 year: 2018 ident: mstad7876bib23 article-title: Gravitational apparent motion-based SINS self-alignment method for under-water vehicles publication-title: IEEE Trans. Veh. Technol. doi: 10.1109/TVT.2018.2876469 – volume: 67 start-page: 3226 year: 2020 ident: mstad7876bib12 article-title: Fast self-alignment technology for hybrid inertial navigation systems based on a new two-position analytic method publication-title: IEEE Trans. Ind. Electron. doi: 10.1109/TIE.2019.2910045 – volume: 70 start-page: 1347 year: 2017 ident: mstad7876bib18 article-title: In-motion alignment algorithm for vehicle carried sins based on odometer aiding publication-title: J. Navig. doi: 10.1017/S0373463317000340 – volume: 109 start-page: 1 year: 2021 ident: mstad7876bib34 article-title: Cascade extended state observer for active disturbance rejection control applications under measurement noise publication-title: ISA Trans. doi: 10.1016/j.isatra.2020.09.007 – volume: 28 start-page: 1056 year: 1992 ident: mstad7876bib41 article-title: Observability analysis of piece-wise constant systems. I. Theory publication-title: IEEE Trans. Aerosp. Electron. Syst. doi: 10.1109/7.165367 – volume: 28 start-page: 1068 year: 1992 ident: mstad7876bib42 article-title: Observability analysis of piece-wise constant systems. II. Application to inertial navigation in-flight alignment (military applications) publication-title: IEEE Trans. Aerosp. Electron. Syst. doi: 10.1109/7.165368 – volume: 99 year: 2020 ident: mstad7876bib9 article-title: Information-reusing alignment technology for rotating inertial navigation system publication-title: Aerosp. Sci. Technol. doi: 10.1016/j.ast.2020.105747 – volume: 39 start-page: 131 year: 2014 ident: mstad7876bib4 article-title: AUV navigation and localization: a review publication-title: IEEE J. Ocean. Eng. doi: 10.1109/JOE.2013.2278891 – volume: 30 year: 2019 ident: mstad7876bib27 article-title: Backtracking scheme for single-point self-calibration and rapid in-motion alignment with application to a position and azimuth determining system publication-title: Meas. Sci. Technol. doi: 10.1088/1361-6501/aae918 – volume: 64 start-page: 795 year: 2015 ident: mstad7876bib25 article-title: Backtracking integration for fast attitude determination-based initial alignment publication-title: IEEE Trans. Instrum. Meas. doi: 10.1109/TIM.2014.2359516 – volume: 33 start-page: 107 year: 2014 ident: mstad7876bib29 article-title: Extended state observer based robust control of wing motion publication-title: Aerosp. Sci. Technol. doi: 10.1016/j.ast.2014.01.008 – volume: 29 year: 2018 ident: mstad7876bib2 article-title: A dynamic path planning method for terrain-aided navigation of autonomous underwater vehicles publication-title: Meas. Sci. Technol. doi: 10.1088/1361-6501/aad466 – volume: 21 start-page: 18256 year: 2021 ident: mstad7876bib14 article-title: An improved initial alignment method for SINS/GPS integration with vectors subtraction publication-title: IEEE Sens. J. doi: 10.1109/JSEN.2021.3085742 – volume: 34 year: 2023 ident: mstad7876bib7 article-title: A performance-enhanced DVL/SINS integrated navigation system based on data-driven approach publication-title: Meas. Sci. Technol. doi: 10.1088/1361-6501/acd9e1 – volume: 35 start-page: 50 year: 2017 ident: mstad7876bib31 article-title: A singular adaptive attitude control with active disturbance rejection publication-title: Eur. J. Control doi: 10.1016/j.ejcon.2017.01.002 – volume: 69 start-page: 3740 year: 2020 ident: mstad7876bib8 article-title: An IMM-UKF aided SINS/USBL calibration solution for underwater vehicles publication-title: IEEE Trans. Veh. Technol. doi: 10.1109/TVT.2020.2972526 – volume: 25 start-page: 1659 year: 2020 ident: mstad7876bib15 article-title: Robust initial alignment for SINS/DVL based on reconstructed observation vectors publication-title: IEEE/ASME Trans. Mechatronics doi: 10.1109/TMECH.2020.2982199 – year: 2014 ident: mstad7876bib40 article-title: In-motion initial alignment method for DVL-aided SINS under wave disturbance for AUV doi: 10.1109/ChiCC.2014.6896703 – volume: 71 start-page: 530 year: 2017 ident: mstad7876bib30 article-title: Control of unstable processes with time delays via ADRC publication-title: ISA Trans. doi: 10.1016/j.isatra.2017.09.002 – year: 2010 ident: mstad7876bib33 article-title: Fault detection based on the estimated parameter of system model doi: 10.1109/ICMTMA.2010.472 – volume: 72 start-page: 1 year: 2023 ident: mstad7876bib38 article-title: Robust adaptive integral sliding mode control for two-axis optoelectronic tracking and measuring system based on novel nonlinear extended state observer publication-title: IEEE Trans. Instrum. Meas. doi: 10.1109/TIM.2023.3239925 – volume: 60 start-page: 420 year: 2011 ident: mstad7876bib36 article-title: On the convergence of an extended state observer for nonlinear systems with uncertainty publication-title: Syst. Control Lett. doi: 10.1016/j.sysconle.2011.03.008 – volume: 47 start-page: 496 year: 2014 ident: mstad7876bib19 article-title: A novel backtracking navigation scheme for autonomous underwater vehicles publication-title: Measurement doi: 10.1016/j.measurement.2013.09.022 – year: 2008 ident: mstad7876bib24 – year: 2012 ident: mstad7876bib35 article-title: Estimate error analysis of the nonlinear third order extended state observer doi: 10.1109/WCICA.2012.6358137 – year: 2017 ident: mstad7876bib37 article-title: One-DOF link manipulator control through active disturbance rejection approach doi: 10.23919/ChiCC.2017.8027481 – volume: 65 start-page: 8946 year: 2018 ident: mstad7876bib10 article-title: Ensemble particle filter based on KLD and its application to initial alignment of the SINS in large misalignment angles publication-title: IEEE Trans. Ind. Electron. doi: 10.1109/TIE.2018.2818673 – volume: 32 start-page: 1362 year: 1996 ident: mstad7876bib21 article-title: Strapdown INS error model for multiposition alignment publication-title: IEEE Trans. Aerosp. Electron. Syst. doi: 10.1109/7.543857 – volume: 50 start-page: 1887 year: 2020 ident: mstad7876bib1 article-title: Guidance-error-based robust fuzzy adaptive control for bottom following of a flight-style AUV with saturated actuator dynamics publication-title: IEEE Trans. Cybern. doi: 10.1109/TCYB.2018.2890582 – volume: 47 start-page: 386 year: 2008 ident: mstad7876bib32 article-title: Fault diagnosis for a class of nonlinear systems via ESO publication-title: ISA Trans. doi: 10.1016/j.isatra.2008.06.004 – volume: 70 start-page: 8441 year: 2021 ident: mstad7876bib5 article-title: Variational Bayesian-based filter for inaccurate input in underwater navigation publication-title: IEEE Trans. Veh. Technol. doi: 10.1109/TVT.2021.3099126 – volume: 71 start-page: 6110 year: 2022 ident: mstad7876bib13 article-title: In-motion coarse alignment method for SINS/GPS integration in polar region publication-title: IEEE Trans. Veh. Technol. doi: 10.1109/TVT.2022.3162636 – volume: 23 start-page: 4362 year: 2022 ident: mstad7876bib11 article-title: A robust in-motion optimization-based alignment for SINS/GPS integration publication-title: IEEE Trans. Intell. Transp. Syst. doi: 10.1109/TITS.2020.3044084 – volume: 66 start-page: 2274 year: 2017 ident: mstad7876bib17 article-title: A novel autonomous initial alignment method for strapdown inertial navigation system publication-title: IEEE Trans. Instrum. Meas. doi: 10.1109/TIM.2017.2692311 – volume: 67 start-page: 116 year: 2016 ident: mstad7876bib3 article-title: A new AUV navigation system exploiting unscented Kalman filter publication-title: Ocean Eng. doi: 10.1016/j.oceaneng.2015.12.058 – volume: 60 start-page: 1930 year: 2011 ident: mstad7876bib16 article-title: Coarse alignment of a ship’s strapdown inertial attitude reference system using velocity loci publication-title: IEEE Trans. Instrum. Meas. doi: 10.1109/TIM.2011.2113131 – volume: 70 start-page: 1 year: 2021 ident: mstad7876bib22 article-title: In-motion initial alignment using state-dependent extended Kalman filter for strapdown inertial navigation system publication-title: IEEE Trans. Instrum. Meas. doi: 10.1109/tim.2020.3020682 |
| SSID | ssj0007099 |
| Score | 2.4524848 |
| Snippet | Achieving fast initial alignment has always been a major challenge for autonomous underwater vehicle navigation, especially in motion. During the fine... |
| SourceID | crossref |
| SourceType | Index Database |
| StartPage | 126305 |
| Title | In-motion fine alignment algorithm for AUV based on improved extended state observer and Kalman filter |
| Volume | 35 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVIOP databaseName: Institute of Physics (IOP) - journals customDbUrl: eissn: 1361-6501 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0007099 issn: 0957-0233 databaseCode: IOP dateStart: 19900101 isFulltext: true titleUrlDefault: https://iopscience.iop.org/ providerName: IOP Publishing |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3NT9swFLe6TpN2QcA2jfEhH3YYijwaJ42dY4U2FSa2HeiGdols16aRugZBeoD_gf-ZZzsOEWUS7JJGkfXU9P363vPP7wOhj-CTFWw7JNFskJJU6oxIoySJuZYZY8xMM1ucfPI9G0_S47PhWa9328laWtbys7p5tK7kf7QKz0Cvtkr2GZpthcIDuAf9whU0DNcn6fhoQfwUnsjYYBFC6nN_uC_m5xXs-md_XRbhaPIrst5qak8GSsciwH2gvyNXUxRV0vKz2qdUfhNzy-2bch6yd8PQp3tKMQoVQRY89QpDfyL8ab5uXKMjp6ulY1tn5XXZgvJ3w1j_KWeiWuGxx6Lyo1kCNUHTTppH4BgZgaDAWzDtLWySxQTCwrhrgn3HkgA12jGoMc0SV5e9auvBPlraIcizTm0K5ueRxtoPHF6bhugO4DkvrIzCyii8hBfoJQUnYSeBHP342Tp2Nsib1o3-rZpTb5Bw0H6LAy-hE-V0wpXTdbTW7DPwyINmA_X0YhO9cvm-6moTbTQ2_Qp_ahqP779BpsUTtnjCLZ5wiycMeMKAJ-zwhGFlwBMOeMIOTzjgCQOesMcT9nh6iyZfv5wejkkzh4MosM81SbnghisucspdfBrnHP7DPKV0Ss1AScnsUADOpIk1fMLSJFfG6FTlSTaMk3eov6gW-j3CnEE0pMRQxolKqVJg_o3gQ_B0ynaiE1toP_xuxYVvt1L8S0sfnrF2G72-B-gO6teXS70L0WQt95yO7wCyuXI5 |
| linkProvider | IOP Publishing |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=In-motion+fine+alignment+algorithm+for+AUV+based+on+improved+extended+state+observer+and+Kalman+filter&rft.jtitle=Measurement+science+%26+technology&rft.au=Ma%2C+Cheng&rft.au=Zhou%2C+Shiyin&rft.au=Wang%2C+Zihao&rft.au=Zhang%2C+Haosu&rft.date=2024-12-01&rft.issn=0957-0233&rft.eissn=1361-6501&rft.volume=35&rft.issue=12&rft.spage=126305&rft_id=info:doi/10.1088%2F1361-6501%2Fad7876&rft.externalDBID=n%2Fa&rft.externalDocID=10_1088_1361_6501_ad7876 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0957-0233&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0957-0233&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0957-0233&client=summon |