SBL localization based on Extended Kalman Filter

Abstract

According to the receiving array size, the underwater acoustic positioning system can be divided into three positioning systems: long baseline (LBL), short baseline (SBL) and ultra-short baseline (USBL). Acoustic detection and positioning technology based on ultra-short baseline is the most effective means to collect and transmit information, and is an effective way to solve the positioning accuracy of underwater vehicles. In this paper, the short baseline positioning and navigation system is studied deeply, and an underwater acoustic positioning algorithm based on extended Kalman filter is proposed. By fusing the information of pressure gauge, digital compass and accelerometer of the robot, the positioning accuracy is improved and the influence of underwater channel multipath effect on the system is reduced.

Application of Kalman filter in wharf surface displacement of Beidou automatic monitoring

“…The estimated equation is: Where: 𝑥 ̂𝑘 − represents the prior state estimation of system vector, 𝑥 ̂𝑘−1 、𝑥 ̂𝑘 represents posterior state estimation of system vector, 𝑃 𝑘 − represents the covariance of prior estimation error, 𝑃 𝑘 , 𝑃 𝑘−1 represents the posterior estimation error covariance, 𝑄 is the covariance matrix of process excitation noise, 𝐾 𝑘 is the Kalman gain, 𝑅 is the covariance matrix of observation noise, 𝑧 𝑘 represents the observation vector [9].…”

“…The system noise 𝑄 can be dynamically adjusted by Kalman adaptive filtering [9], or determined by test [10]. the system noise 𝑄 was determined by tests in this article.…”

Photoelectrochemical biosensor based on SiW12@CdS quantum dots for the highly sensitive detection of HPV 16 DNA

“…Photoelectrochemical (PEC) biosensors based on photocurrent conversion functional materials are an ideal pathway to detect biomolecules owing to their low background signal and excellent sensitivity (Kay et al, 2005;Jampasa et al, 2018;Wang F. et al, 2022;Wang L. et al, 2022;Huang et al, 2022;Nanocubes et al, 2023). However, the unfavorable biocompatibility, belated photocurrent response, and low stability of these functional materials have limited the development of PEC biosensors.…”

“…However, the unfavorable biocompatibility, belated photocurrent response, and low stability of these functional materials have limited the development of PEC biosensors. Compared with the electrochemiluminescence immunoassay strategy, which depends on the concentration of • OH induced by H 2 O 2 conversion, PEC biosensors require no auxiliary additives and exhibit lower toxicity and higher sensitivity but rely heavily on outstanding photochromic properties (Nie et al, 2020;Wang L. et al, 2022). Quantum dots (QDs) are extensively used in the fields of energy catalysis (Liu et al, 2014;Weiss, 2017;Kong et al, 2018;Shi et al, 2019;Zheng et al, 2020;Zhang M. et al, 2022), imaging (Nguyen et al, 2017;Park et al, 2017;Mallick et al, 2019;Min et al, 2019;Zheng et al, 2020;Xu et al, 2021;Liu et al, 2017), and chemical sensors (Wang F. et al, 2022;Zhang J. et al, 2022;Huang et al, 2022) due to their remarkable photoelectric response properties.…”

“…Compared with the electrochemiluminescence immunoassay strategy, which depends on the concentration of • OH induced by H 2 O 2 conversion, PEC biosensors require no auxiliary additives and exhibit lower toxicity and higher sensitivity but rely heavily on outstanding photochromic properties (Nie et al, 2020;Wang L. et al, 2022). Quantum dots (QDs) are extensively used in the fields of energy catalysis (Liu et al, 2014;Weiss, 2017;Kong et al, 2018;Shi et al, 2019;Zheng et al, 2020;Zhang M. et al, 2022), imaging (Nguyen et al, 2017;Park et al, 2017;Mallick et al, 2019;Min et al, 2019;Zheng et al, 2020;Xu et al, 2021;Liu et al, 2017), and chemical sensors (Wang F. et al, 2022;Zhang J. et al, 2022;Huang et al, 2022) due to their remarkable photoelectric response properties. Cadmium sulfide quantum dots (CdS QDs) have attracted broad and interdisciplinary attention for a long time because of their excellent properties in that their band gap (2.3 eV) corresponds well with the spectrum of sunlight, qualifying their superior visible light photosensitiveness and proposing remarkable compatibility with other functional materials (Ahamad et al, 2016).…”