{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T04:53:52Z","timestamp":1779252832703,"version":"3.51.4"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2022,7,7]],"date-time":"2022-07-07T00:00:00Z","timestamp":1657152000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2022,7,7]],"date-time":"2022-07-07T00:00:00Z","timestamp":1657152000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["(61671174"],"award-info":[{"award-number":["(61671174"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Major Scientific and technological innovation project of Shandong Province of China","award":["2020CXGC01070"],"award-info":[{"award-number":["2020CXGC01070"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Cloud Comp"],"published-print":{"date-parts":[[2022,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The navigation and positioning subsystem offers important position information for an autonomous underwater vehicle (AUV) system. It plays a crucial role during the underwater exploration and operations of AUV. Many scholars research underwater navigation and positioning. Various improved methods and systems were presented. However, as the diversity of the ocean environment, the random drift of the gyroscope, error accumulation, the variety of tasks, and other negative factors, the navigation and positioning results are uncertain and incredible. The accuracy, stability, and robustness are not guaranteed, which cannot meet the increasing application requirement. Therefore, we put forward a SINS\/DVL\/USBL integrated navigation and positioning IoT system with multiple resource fusion and a federated Kalman filter. In this method, we first present an improved SINS\/DVL combined subsystem with a filtering gain compensation strategy. So we can enhance the accuracy and stability of the navigation and position system. Secondly, we proposed a USBL positioning subsystem with the Kalman filtering acoustic signals to improve USBL positioning performance. Lastly, we present a federated Kalman filter to fuse the positioning information from the SINS\/DVL combined positioning subsystem and the USBL positioning subsystem. Through the three methods, we can enhance the positioning accuracy and robustness. Comprehensive simulation results indicated the feasibility and effectiveness of the proposed SINS\/DVL\/USBL integrated navigation and positioning system, which provides critical reference for other positioning method, and it also offers crucial position information for AUV to achieve high accuracy and efficiency tasks.<\/jats:p>","DOI":"10.1186\/s13677-022-00289-3","type":"journal-article","created":{"date-parts":[[2022,7,7]],"date-time":"2022-07-07T12:03:12Z","timestamp":1657195392000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["A SINS\/DVL\/USBL integrated navigation and positioning IoT system with multiple sources fusion and federated Kalman filter"],"prefix":"10.1186","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0168-1245","authenticated-orcid":false,"given":"Qinghua","family":"Luo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaozhen","family":"Yan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chenxu","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Shao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiquan","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianfeng","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cong","family":"Hu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuntao","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinfeng","family":"Ding","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,7,7]]},"reference":[{"key":"289_CR1","doi-asserted-by":"publisher","first-page":"210","DOI":"10.1109\/TCC.2015.2481401","volume":"70","author":"S Liu","year":"2021","unstructured":"Liu S, Zhang T, Zhang J, Zhu Y (2021) A new coupled method of SINS\/DVL integrated navigation based on improved dual adaptive factors. IEEE Trans Instrum Meas 70:210\u2013221. https:\/\/doi.org\/10.1109\/TCC.2015.2481401","journal-title":"IEEE Trans Instrum Meas"},{"key":"289_CR2","volume-title":"Proceedings of the IEEE international Conference on Smart Internet of Things (SmartIoT), Virtual Conference, 13\u201315 August 2021","author":"Q Luo","year":"2021","unstructured":"Luo Q, Yan X, Zhou Z, Wang C, Hu C (2021) An integrated navigation and localization system. In: Proceedings of the IEEE international Conference on Smart Internet of Things (SmartIoT), Virtual Conference, 13\u201315 August 2021"},{"key":"289_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/UT.2019.8734279","volume-title":"Fault tolerant multi-sensor federated filter for AUV integrated navigation","author":"S Guo","year":"2019","unstructured":"Guo S, He B, Feng C, Liu H, Yin F, Zhang X, Mu X, Li T, Yan T (2019) Fault tolerant multi-sensor federated filter for AUV integrated navigation. IEEE Underwater Technology, pp 1\u20134. https:\/\/doi.org\/10.1109\/UT.2019.8734279"},{"issue":"1","key":"289_CR4","doi-asserted-by":"publisher","first-page":"53136","DOI":"10.1109\/ACCESS.2019.2911032","volume":"7","author":"X Yan","year":"2019","unstructured":"Yan X, Luo Q, Yang Y, Liu S, Li H, Hu C (2019) ITL-MEPOSA: an improved trilateration localization with minimum uncertainty propagation and optimized selection of anchor nodes for wireless sensor networks. IEEE Access 7(1):53136\u201353146. https:\/\/doi.org\/10.1109\/ACCESS.2019.2911032","journal-title":"IEEE Access"},{"issue":"5","key":"289_CR5","doi-asserted-by":"publisher","first-page":"2584","DOI":"10.1109\/TWC.2015.2389220","volume":"14","author":"H Ramezani","year":"2015","unstructured":"Ramezani H, Fazel F, Stojanovic M, Leus G (2015) Collision tolerant and collision free packet scheduling for underwater acoustic localization. IEEE Trans Wirel Commun 14(5):2584\u20132595. https:\/\/doi.org\/10.1109\/TWC.2015.2389220","journal-title":"IEEE Trans Wirel Commun"},{"key":"289_CR6","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1109\/SmartIoT49966.2020.00015","volume-title":"Paper presented at the 2020 IEEE International Conference on Smart Internet of Things (SmartIoT)","author":"Q Luo","year":"2020","unstructured":"Luo Q, Ju C, Yan X, Hu C, Wang C, Ding J (2020) Accurate underwater localization through phase difference. In: Paper presented at the 2020 IEEE International Conference on Smart Internet of Things (SmartIoT), pp 38\u201342. https:\/\/doi.org\/10.1109\/SmartIoT49966.2020.00015"},{"issue":"1","key":"289_CR7","doi-asserted-by":"publisher","first-page":"143","DOI":"10.3390\/s21010143","volume":"21","author":"Q Luo","year":"2021","unstructured":"Luo Q, Yan X, Ju C, Chen Y, Luo Z (2021) An ultra-short-baseline underwater positioning system with Kalman filtering. Sensors 21(1):143. https:\/\/doi.org\/10.3390\/s21010143","journal-title":"Sensors"},{"issue":"1","key":"289_CR8","doi-asserted-by":"publisher","first-page":"322","DOI":"10.1109\/TCST.2013.2245133","volume":"22","author":"M Morgado","year":"2014","unstructured":"Morgado M, Oliveira P, Silvestre C, Vasconcelos J (2014) Embedded vehicle dynamics aiding for USBL\/INS underwater navigation system. IEEE Trans Control Syst Technol 22(1):322\u2013330. https:\/\/doi.org\/10.1109\/TCST.2013.2245133","journal-title":"IEEE Trans Control Syst Technol"},{"key":"289_CR9","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1109\/AUV.2016.7778660","volume-title":"Paper presented at the IEEE\/OES Autonomous Underwater Vehicles (AUV)","author":"Z Zhu","year":"2016","unstructured":"Zhu Z, James Hu S, Li H (2016) Effect on Kalman based underwater tracking due to ocean current uncertainty. In: Paper presented at the IEEE\/OES Autonomous Underwater Vehicles (AUV), pp 131\u2013137. https:\/\/doi.org\/10.1109\/AUV.2016.7778660"},{"key":"289_CR10","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1109\/ICEICT.2016.7879684","volume-title":"Paper presented at the 2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT)","author":"Y Qian","year":"2016","unstructured":"Qian Y, Chen Y, Cao X, Wu J, Sun J (2016) An underwater bearing-only multi-target tracking approach based on enhanced Kalman filter. In: Paper presented at the 2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT), pp 203\u2013207. https:\/\/doi.org\/10.1109\/ICEICT.2016.7879684"},{"issue":"1","key":"289_CR11","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1017\/S0373463318000565","volume":"72","author":"J Xu","year":"2019","unstructured":"Xu J, Xiong Z, Liu J, Wang R (2019) A dynamic vector-formed information sharing algorithm based on two-state chi square detection in an adaptive federated filter. J Navig 72(1):101\u2013120. https:\/\/doi.org\/10.1017\/S0373463318000565","journal-title":"J Navig"},{"issue":"10","key":"289_CR12","doi-asserted-by":"publisher","first-page":"2974","DOI":"10.3390\/s20102974","volume":"20","author":"Y Yang","year":"2020","unstructured":"Yang Y, Liu X, Zhang W, Liu X, Guo Y (2020) A nonlinear double model for multisensor-integrated navigation using the federated EKF algorithm for small UAVs. Sensors 20(10):2974. https:\/\/doi.org\/10.3390\/s20102974","journal-title":"Sensors"},{"key":"289_CR13","doi-asserted-by":"publisher","first-page":"26168","DOI":"10.1109\/ACCESS.2019.2897222","volume":"7","author":"H Xiong","year":"2019","unstructured":"Xiong H, Mai Z, Tang J, He F (2019) Robust GPS\/INS\/DVL navigation and positioning method using adaptive federated strong tracking filter based on weighted least square principle. IEEE Access 7:26168\u201326178. https:\/\/doi.org\/10.1109\/ACCESS.2019.2897222","journal-title":"IEEE Access"},{"issue":"1","key":"289_CR14","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1016\/j.inpa.2019.04.003","volume":"7","author":"J Bao","year":"2020","unstructured":"Bao J, Li D, Qiao X, Rauschenbach T (2020) Integrated navigation for autonomous underwater vehicles in aquaculture: a review. Inform Process Agric 7(1):139\u2013151. https:\/\/doi.org\/10.1016\/j.inpa.2019.04.003","journal-title":"Inform Process Agric"},{"issue":"12","key":"289_CR15","doi-asserted-by":"publisher","first-page":"3514","DOI":"10.3390\/s20123514","volume":"20","author":"C He","year":"2020","unstructured":"He C, Tang C, Yu C (2020) A federated derivative cubature Kalman filter for IMU-UWB indoor positioning. Sensors 20(12):3514. https:\/\/doi.org\/10.3390\/s20123514","journal-title":"Sensors"},{"key":"289_CR16","doi-asserted-by":"publisher","first-page":"1804","DOI":"10.1109\/WCICA.2018.8630355","volume-title":"Paper presented at the 2018 13th World Congress on Intelligent Control and Automation (WCICA)","author":"G Lei","year":"2018","unstructured":"Lei G, Fang Z, Luo B, Qi P (2018) A new adaptive federated Kalman filter for the multi-sensor integrated navigation system of MAVs. In: Paper presented at the 2018 13th World Congress on Intelligent Control and Automation (WCICA), pp 1804\u20131809. https:\/\/doi.org\/10.1109\/WCICA.2018.8630355"},{"issue":"6","key":"289_CR17","doi-asserted-by":"publisher","first-page":"062195","DOI":"10.1088\/1757-899X\/392\/6\/062195","volume":"392","author":"L Tang","year":"2018","unstructured":"Tang L, Tang X, Chen H, Liu X (2018) An adaptive federated filter in multi-source fusion information navigation system. IOP Conf Ser Mater Sci Eng 392(6):062195. https:\/\/doi.org\/10.1088\/1757-899X\/392\/6\/062195","journal-title":"IOP Conf Ser Mater Sci Eng"},{"issue":"1","key":"289_CR18","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1016\/j.measurement.2016.02.016","volume":"86","author":"X Gong","year":"2016","unstructured":"Gong X, Zhang J (2016) An innovative transfer alignment method based on federated filter for airborne distributed POS. Measurement 86(1):165\u2013181. https:\/\/doi.org\/10.1016\/j.measurement.2016.02.016","journal-title":"Measurement"},{"key":"289_CR19","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1109\/3M-NANO.2018.8552184","volume-title":"Paper presented at the 2018 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)","author":"X Ma","year":"2018","unstructured":"Ma X, Zhang T, Liu X (2018) Application of adaptive federated filter based on innovation covariance in underwater integrated navigation system. In: Paper presented at the 2018 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), pp 209\u2013213. https:\/\/doi.org\/10.1109\/3M-NANO.2018.8552184"},{"issue":"2","key":"289_CR20","doi-asserted-by":"publisher","first-page":"239","DOI":"10.3390\/s17020239","volume":"17","author":"Q Wang","year":"2017","unstructured":"Wang Q, Cui X, Li Y, Ye F (2017) Performance enhancement of a USV INS\/CNS\/DVL integration navigation system based on an adaptive information sharing factor federated filter. Sensors 17(2):239. https:\/\/doi.org\/10.3390\/s17020239","journal-title":"Sensors"},{"key":"289_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.23919\/ICINS43216.2021.9470863","volume-title":"Paper presented at the 2021 28th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","author":"Q Xu","year":"2021","unstructured":"Xu Q, Chang B, Li X, Liu X, Tian Y (2021) Vision-IMU integrated vehicle pose estimation based on hybrid multi-feature deep neural network and federated filter. In: Paper presented at the 2021 28th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), pp 1\u20135. https:\/\/doi.org\/10.23919\/ICINS43216.2021.9470863"},{"key":"289_CR22","doi-asserted-by":"publisher","first-page":"107506","DOI":"10.1016\/j.measurement.2020.107506","volume":"154","author":"H Li","year":"2020","unstructured":"Li H, Ao L, Guo H, Yan X (2020) Indoor multi-sensor fusion positioning based on federated filtering. Measurement 154:107506. https:\/\/doi.org\/10.1016\/j.measurement.2020.107506","journal-title":"Measurement"},{"issue":"2","key":"289_CR23","doi-asserted-by":"publisher","first-page":"e0246680","DOI":"10.1371\/journal.pone.0246680","volume":"16","author":"L Wang","year":"2021","unstructured":"Wang L, Wang S, Yang W (2021) Adaptive federated filter for multi-sensor nonlinear system with cross-correlated noises. PLoS One 16(2):e0246680. https:\/\/doi.org\/10.1371\/journal.pone.0246680","journal-title":"PLoS One"},{"issue":"8","key":"289_CR24","doi-asserted-by":"publisher","first-page":"085102","DOI":"10.1088\/1361-6501\/ab78c2","volume":"31","author":"Z Yue","year":"2020","unstructured":"Yue Z, Lian B, Tang C, Tong K (2020) A novel adaptive federated filter for GNSS\/INS\/VO integrated navigation system. Meas Sci Technol 31(8):085102. https:\/\/doi.org\/10.1088\/1361-6501\/ab78c2","journal-title":"Meas Sci Technol"},{"key":"289_CR25","doi-asserted-by":"publisher","unstructured":"Ayabakan T, Kerestecio\u011flu F (2021) RSSI-based indoor positioning via adaptive federated Kalman filter. IEEE Sensors J:1\u20131. https:\/\/doi.org\/10.1109\/JSEN.2021.3097249","DOI":"10.1109\/JSEN.2021.3097249"},{"issue":"4","key":"289_CR26","first-page":"382","volume":"5","author":"A Mikhail","year":"2011","unstructured":"Mikhail A, Leon HD (2011) A design method and algorithm for USBL systems with skew three-element arrays. Int J Circuits Syst Signal Process 5(4):382\u2013390","journal-title":"Int J Circuits Syst Signal Process"}],"container-title":["Journal of Cloud Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13677-022-00289-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1186\/s13677-022-00289-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13677-022-00289-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,7]],"date-time":"2022-07-07T12:14:36Z","timestamp":1657196076000},"score":1,"resource":{"primary":{"URL":"https:\/\/journalofcloudcomputing.springeropen.com\/articles\/10.1186\/s13677-022-00289-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,7]]},"references-count":26,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,12]]}},"alternative-id":["289"],"URL":"https:\/\/doi.org\/10.1186\/s13677-022-00289-3","relation":{},"ISSN":["2192-113X"],"issn-type":[{"value":"2192-113X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,7,7]]},"assertion":[{"value":"25 November 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 June 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 July 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that there are no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"18"}}