Precise navigation is essential for autonomous underwater vehicles (AUVs). The measurement deviation of the navigation sensors, especially the microelectromechanical systems (MEMS) sensors, is a crucial factor that affects the localization accuracy. Deep learning is a novel method to solve this problem. However, the calculation cycle and robustness of the deep learning method may be insufficient in practical application. This paper proposes an adaptive navigation algorithm with deep learning to address these questions and realize accurate navigation. Firstly, this algorithm uses deep learning to generate low-frequency position information to correct the error accumulation of the navigation system. Secondly, the χ2 rule is selected to judge if the Doppler velocity log (DVL) measurement fails, which could avoid interference from DVL outliers. Thirdly, the adaptive filter, based on the variational Bayesian (VB) method, is employed to estimate the navigation information simultaneous with the measurement covariance, improving navigation accuracy even more. The experimental results, based on AUV field data, show that the proposed algorithm could realize robust navigation performance and significantly improve position accuracy.
The transition to Beyond fifth generation of wireless networks (B5G) and sixth generation of wireless networks (6G) exposes the severe interference and coverage limitations of conventional cell-centric architectures. To overcome these bottlenecks, this paper presents a scalable f…
Robot person following (RPF) in dense crowds requires a mobile robot to maintain an appropriate relative position with respect to a moving target while avoiding surrounding pedestrians and satisfying rear-following and social constraints. This paper proposes PPO-GAT-Follow, an in…
In ground-based space surveillance, space target attitude estimation is critical for space situational awareness, yet existing methods based on inverse synthetic aperture radar (ISAR) images suffer from three core limitations: phase information is discarded in amplitude-only proc…
Road sign detection is crucial for highway maintenance but often suffers from sign loss, occlusion, and spatial misjudgments such as repeated local detections or mapping errors. To address these issues, this study proposes YOLO-DeepSort, a tracking and detection framework integra…
Background: Rheumatoid arthritis (RA) is a slow progressive autoimmune disease. RA disproportionately affects women due to hormonal and immune variations. During pregnancy, hormonal and immune system changes vary drastically and may lead to RA. Traditional diagnostic techniques a…
Offshore wind farms are rapidly expanding into deeper and more remote ocean regions. Their structural safety and operational reliability in harsh marine environments have garnered widespread global attention. Sensing technologies capture structural and environmental conditions an…