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Pseudo DVL reconstruction by an evolutionary TS-fuzzy algorithm for ocean vehicles
, Article Measurement: Journal of the International Measurement Confederation ; Volume 147 , 2019 ; 02632241 (ISSN) ; Hashemi, M ; Salarieh, H ; Sharif University of Technology
Elsevier B.V
2019
Abstract
By development of ocean exploration, autonomous vehicles are employed to perform on-water and underwater tasks. Using an extended Kalman filter, Inertial Navigation System/Doppler Velocity Log (INS/DVL) integrated systems are trying to navigate in oceans and underwater environments when Global Positioning System (GPS) signals are not accessible. The dependency of DVL signals on acoustic environments may cause any DVL malfunction due to sea creatures or strong wave-absorbing material. In this paper, an improved version of evolutionary TS-fuzzy (eTS) is proposed in order to predict DVL sensor outputs at DVL malfunction moment, by utilizing an artificial intelligent (AI) aided integrated...