{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,21]],"date-time":"2026-07-21T15:11:08Z","timestamp":1784646668247,"version":"3.55.0"},"reference-count":42,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2020,11,28]],"date-time":"2020-11-28T00:00:00Z","timestamp":1606521600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773116"],"award-info":[{"award-number":["61773116"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Fundamental Research Funds for the Central Universities, the Postgraduate Research and  Practice Innovation Program of Jiangsu Province","award":["KYCX17_0103"],"award-info":[{"award-number":["KYCX17_0103"]}]},{"name":"the Scientific Research Foundation of  Graduate School of Southeast University","award":["YBJJ1847"],"award-info":[{"award-number":["YBJJ1847"]}]},{"name":"the Shanghai Aerospace Science  and Technology Innovation Fund","award":["SAST2019079"],"award-info":[{"award-number":["SAST2019079"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>High accuracy and reliable navigation in the underwater environment is very critical for the operations of autonomous underwater vehicles (AUVs). This paper proposes an adaptive federated interacting multiple model (IMM) filter, which combines adaptive federated filter and IMM algorithm for AUV in complex underwater environments. Based on the performance of each local system, the information sharing coefficient of the adaptive federated IMM filter is adaptively determined. Meanwhile, the adaptive federated IMM filter designs different models for each local system. When the external disturbances change, the model of each local system can switch in real-time. Furthermore, an AUV integrated navigation system model is constructed, which includes the dynamic model of the system error and the measurement models of strapdown inertial navigation system\/Doppler velocity log (SINS\/DVL) and SINS\/terrain aided navigation (SINS\/TAN). The integrated navigation experiments demonstrate that the proposed filter can dramatically improve the accuracy and reliability of the integrated navigation system. Additionally, it has obvious advantages compared with the federated Kalman filter and the adaptive federated Kalman filter.<\/jats:p>","DOI":"10.3390\/s20236806","type":"journal-article","created":{"date-parts":[[2020,11,29]],"date-time":"2020-11-29T21:00:57Z","timestamp":1606683657000},"page":"6806","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Adaptive Federated IMM Filter for AUV Integrated Navigation Systems"],"prefix":"10.3390","volume":"20","author":[{"given":"Weiwei","family":"Lyu","sequence":"first","affiliation":[{"name":"School of Instrument Science &amp; Engineering, Southeast University, Nanjing 210096, China"},{"name":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4002-2592","authenticated-orcid":false,"given":"Xianghong","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Instrument Science &amp; Engineering, Southeast University, Nanjing 210096, China"},{"name":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6485-780X","authenticated-orcid":false,"given":"Jinling","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Civil and Environmental Engineering, University of New South Wales, Sydney, NSW 2052, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,11,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"633","DOI":"10.1109\/JOE.2018.2843654","article-title":"UKF-based navigation system for AUVs: Online experimental validation","volume":"44","author":"Costanzi","year":"2018","journal-title":"IEEE J. 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