Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Differential Leveling01:12

Differential Leveling

Differential leveling is a precise method in surveying used to determine the elevation difference between two points. Its primary goal is to establish accurate vertical measurements to create level surfaces or grade lines critical for designing and constructing infrastructures such as roads, bridges, and buildings.The procedure for differential leveling begins with setting up and leveling the instrument at a point where the benchmark can be seen. The level rod is held on the benchmark (BM), and...
Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the drone...
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
Doppler Effect - II01:05

Doppler Effect - II

The Doppler effect has several practical, real-world applications. For instance, meteorologists use Doppler radars to interpret weather events based on the Doppler effect. Typically, a transmitter emits radio waves at a specific frequency toward the sky from a weather station. The radio waves bounce off the clouds and precipitation and travel back to the weather station. The radio frequency of the waves reflected back to the station appears to decrease if the clouds or precipitation are moving...
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Relative Motion Analysis - Acceleration01:10

Relative Motion Analysis - Acceleration

A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Targeted DNA triplex-forming oligonucleotide liposome for pulmonary fibrosis gene therapy.

Cell reports. Medicine·2026
Same author

Suppression of senescent metabolism of adipose tissue by rebalancing mitochondrial homeostasis via a selective drug delivery system.

Journal of nanobiotechnology·2026
Same author

Queen cell architecture shapes honey bee queen development.

Nature·2026
Same author

Nanogel-coated nanozymes for ulcerative colitis targeted treatment by restoring redox homeostasis and anti-inflammatory activity.

Colloids and surfaces. B, Biointerfaces·2026
Same author

Intracardiac cement embolism after vertebral augmentation.

World journal of emergency medicine·2026
Same author

Relative ordered structure evaluation of water-extracted polysaccharides from Morchella sextelata: Geographical origins and compositional elements.

International journal of biological macromolecules·2026

Related Experiment Video

Updated: May 15, 2026

Infrared Degenerate Four-wave Mixing with Upconversion Detection for Quantitative Gas Sensing
10:42

Infrared Degenerate Four-wave Mixing with Upconversion Detection for Quantitative Gas Sensing

Published on: March 22, 2019

A novel scheme for DVL-aided SINS in-motion alignment using UKF techniques.

Wanli Li1, Jinling Wang, Liangqing Lu

  • 1College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China. liwanli1201@hotmail.com

Sensors (Basel, Switzerland)
|January 17, 2013
PubMed
Summary

This study introduces a Doppler Velocity Log (DVL) aided Strapdown Inertial Navigation System (SINS) alignment method using an Unscented Kalman Filter (UKF) for Autonomous Underwater Vehicles (AUVs). The adaptive UKF reliably estimates noise covariance, improving alignment performance with large initial misalignments.

Related Experiment Videos

Last Updated: May 15, 2026

Infrared Degenerate Four-wave Mixing with Upconversion Detection for Quantitative Gas Sensing
10:42

Infrared Degenerate Four-wave Mixing with Upconversion Detection for Quantitative Gas Sensing

Published on: March 22, 2019

Area of Science:

  • Robotics and Navigation
  • Underwater Vehicle Technology
  • Estimation Theory

Background:

  • In-motion alignment of Strapdown Inertial Navigation Systems (SINS) is critical for Autonomous Underwater Vehicles (AUVs) but challenging without geodetic-frame observations.
  • Large initial misalignments pose significant difficulties for traditional SINS alignment methods.

Purpose of the Study:

  • To present a novel Doppler Velocity Log (DVL) aided SINS alignment scheme using an Unscented Kalman Filter (UKF) capable of handling large initial misalignments.
  • To extend covariance-matching methods for Adaptive UKF (AUKF) to improve robustness by estimating measurement noise covariance.

Main Methods:

  • Development of a nonlinear SINS error model and measurement model accommodating large misalignments.
  • Application of Unscented Kalman Filter (UKF) for DVL-aided SINS alignment.
  • Extension of covariance-matching techniques for Adaptive UKF (AUKF) to estimate measurement noise covariance.

Main Results:

  • The proposed DVL-aided alignment model demonstrates effectiveness across all initial heading errors.
  • Adaptive filtering methods show stable parameter estimation performance.
  • Adaptive UKF reliably estimates measurement noise covariance, enhancing overall alignment performance.

Conclusions:

  • The presented DVL-aided SINS alignment scheme is effective for AUVs, even with significant initial misalignments.
  • Adaptive UKF provides a robust approach for estimating measurement noise covariance, crucial for reliable SINS alignment.
  • The method offers improved navigation accuracy for underwater vehicles.