{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,8]],"date-time":"2025-09-08T06:30:16Z","timestamp":1757313016852,"version":"3.41.2"},"reference-count":20,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,7,17]],"date-time":"2021-07-17T00:00:00Z","timestamp":1626480000000},"content-version":"vor","delay-in-days":197,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Sensors"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>This paper presents a modified Sage\u2010Husa adaptive Kalman filter\u2010based SINS\/DVL integrated navigation system for the autonomous underwater vehicle (AUV), where DVL is employed to correct the navigation errors of SINS that accumulate over time. When negative definite items are large enough, different from the positive definiteness of noise matrices which cannot be guaranteed for the conventional Sage\u2010Husa adaptive Kalman filter, the proposed modified Sage\u2010Husa adaptive Kalman filter deletes the negative definite items of adaptive update laws of the noise matrix to ensure the convergence of the Sage\u2010Husa adaptive Kalman filter. In other words, this method sacrifices some filtering precision to ensure the stability of the filter. The simulation tests are implemented to verify that expected navigation accuracy for AUV can be obtained using the proposed modified Sage\u2010Husa adaptive Kalman filter.<\/jats:p>","DOI":"10.1155\/2021\/9992041","type":"journal-article","created":{"date-parts":[[2021,7,17]],"date-time":"2021-07-17T16:50:15Z","timestamp":1626540615000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Modified Sage\u2010Husa Adaptive Kalman Filter\u2010Based SINS\/DVL Integrated Navigation System for AUV"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5126-1532","authenticated-orcid":false,"given":"Ruixin","family":"Liu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5668-9105","authenticated-orcid":false,"given":"Fucheng","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Chunning","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Pengchao","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,7,17]]},"reference":[{"key":"e_1_2_8_1_2","article-title":"A review on optimal placement of sensors for cooperative localization of AUVs","volume":"2019","author":"Razzaqi A.","year":"2019","journal-title":"Journal of Sensors"},{"key":"e_1_2_8_2_2","first-page":"1","article-title":"A review of SINS\/DVL integrated navigation technology","volume":"8","author":"Wang B.","year":"2020","journal-title":"Journal of Navigation and Positioning"},{"doi-asserted-by":"publisher","key":"e_1_2_8_3_2","DOI":"10.1155\/2017\/5768651"},{"doi-asserted-by":"publisher","key":"e_1_2_8_4_2","DOI":"10.1109\/TIM.2019.2955187"},{"doi-asserted-by":"publisher","key":"e_1_2_8_5_2","DOI":"10.1155\/2020\/5324349"},{"unstructured":"LvZ. 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