{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T20:14:46Z","timestamp":1775074486381,"version":"3.50.1"},"reference-count":20,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2022,10,17]],"date-time":"2022-10-17T00:00:00Z","timestamp":1665964800000},"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":["6200360"],"award-info":[{"award-number":["6200360"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["ZDJC19-07"],"award-info":[{"award-number":["ZDJC19-07"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Basic Research Project of the College of Advanced Interdisciplinary Studies","award":["6200360"],"award-info":[{"award-number":["6200360"]}]},{"name":"Basic Research Project of the College of Advanced Interdisciplinary Studies","award":["ZDJC19-07"],"award-info":[{"award-number":["ZDJC19-07"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Autonomous underwater vehicles (AUVs) play an increasingly essential role in the field of polar ocean exploration, and the Doppler velocity log (DVL)-aided strapdown inertial navigation system (SINS) is widely used for it. Due to the rapid convergence of the meridians, traditional inertial navigation mechanisms fail in the polar region. To tackle this problem, a transverse inertial navigation mechanism based on the earth ellipsoidal model is designed in this paper. Influenced by the harsh environment of the polar regions, unknown and time-varying outlier noise appears in the output of DVL, which makes the performance of the standard Kalman filter degrade. To address this issue, a robust Kalman filter algorithm based on Mahalanobis distance is used to adaptively estimate measurement noise covariance; thus, the Kalman filter gain can be modified to weight the measurement. A trial ship experiment and semi-physical simulation experiment were carried out to verify the effectiveness of the proposed algorithm. The results demonstrate that the proposed algorithm can effectively resist the influence of DVL outliers and improve positioning accuracy.<\/jats:p>","DOI":"10.3390\/s22207879","type":"journal-article","created":{"date-parts":[[2022,10,18]],"date-time":"2022-10-18T00:31:01Z","timestamp":1666053061000},"page":"7879","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Polar Robust Kalman Filter Algorithm for DVL-Aided SINSs Based on the Ellipsoidal Earth Model"],"prefix":"10.3390","volume":"22","author":[{"given":"Ming","family":"Tian","sequence":"first","affiliation":[{"name":"College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhonghong","family":"Liang","sequence":"additional","affiliation":[{"name":"College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhikun","family":"Liao","sequence":"additional","affiliation":[{"name":"College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruihang","family":"Yu","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Honggang","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2004-9365","authenticated-orcid":false,"given":"Lin","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China"},{"name":"Nanhu Laser Laboratory, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,10,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"8892750","DOI":"10.1155\/2020\/8892750","article-title":"Transverse SINS\/DVL Integrated Polar Navigation Algorithm Based on Virtual Sphere Model","volume":"2020","author":"Huang","year":"2020","journal-title":"Math. 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