黄浩乾｜河海大学｜学者主页

2026

水下SLAM及多信息融合方法研究综述

黄浩乾，周熙瑶，王迪，王俊玮，刘丰宇，潘绍华

《导航定位与授时》

2026

A Novel Mixed Correntropy Criterion Algorithm for Underwater SINS/DVL System

Di Wang, Fang Liu, Junwei Wang, Haoqian Huang

IEEE Sensors Journal

DOI

2025

水下机器人回收过程中目标光源识别与定位研究综述

王迪，赵文洁，王昱，黄浩乾，王俊玮，王广才

《无人系统技术》

DOI

2025

基于贝叶斯和统计相似度量测的水下自主定位方法

黄浩乾，吕奥奇，王迪，张昱曈

《控制与决策》

DOI

2025

A Novel Variational Bayesian Method with Unknown Noise for Underwater INS/DVL/USBL Localization

Haoqian Huang, Chenhui Dong, Yutong Zhang, Shuang Zhang

Sensors

DOI

2025

A Novel SINS/DVL Method Based on Smooth Variable Structure and Improved Variational Bayesian Adaptive Kalman Filter

Di Wang, Bing Wang, Haoqian Huang, Xiang Xu

IEEE Transactions on Vehicular Technology

DOI

2025

VIA-SLAM: An Underwater Visual–Inertial–Acoustic SLAM With Integrated DVL

Haoqian Huang, Zhilin Liu, Zhang Li, Di Wang, Junwei Wang

IEEE Transactions on Instrumentation and Measurement

DOI

2025

A Novel Sonar Image Preprocessing Method for AUV Positioning Based on Underwater SLAM

Haoqian Huang, Mengdie Zhang, Zhang Li, Di Wang, Bing Wang

IEEE Transactions on Instrumentation and Measurement

DOI

2025

A Novel Underwater PSO-SVR Calibration Method for SINS/DVL

Haoqian Huang, Rong Qiu, Aoqi Lv, Mengdie Zhang

Lecture notes in electrical engineering

DOI

2025

Improved MHE-Based Tightly Coupled SINS/USBL Method for Underwater Navigation

Di Wang, Shian Sun, Haoqian Huang, Junwei Wang

IEEE Sensors Journal

DOI

2025

Navigation Control and Signal Processing Methods for Multiple Autonomous Unmanned Systems

Haoqian Huang, Bing Wang, Yuan Yang

Applied Sciences

DOI

2025

A Novel Variational Bayesian Method Based on Student’s t Noise for Underwater Localization

Haoqian Huang, Yutong Zhang, Chenhui Dong

Sensors

DOI

2025

Iterated Extended Kalman Filter Based on Particle Swarm Optimization and Its Application to Underwater Robot Navigation

Di Wang, Junwei Wang, Haoqian Huang, Guangcai Wang

IEEE Transactions on Automation Science and Engineering

DOI

2025

An Improved EKF-Based Localization Method for Underwater Single Beacon

Shian Sun, Haoqian Huang, Di Wang, Junwei Wang

Lecture notes in electrical engineering

DOI

2024

基于模型预测的AUV轨迹跟踪滑模控制方法

黄浩乾，郑康健，马惊天

《中国惯性技术学报》

2024

An Improved Robust Filter Method for SINS/DVL System With Earth Frame Error Model

Di Wang, Bing Wang, Haoqian Huang, Yiqing Yao

IEEE Transactions on Vehicular Technology

DOI

2024

A Novel SINS/DVL Integrated Navigation Method Based on Different Track Models for Complex Environment

Di Wang, Bing Wang, Haoqian Huang, Bing Hao Xu, Haixu Zhang

IEEE Transactions on Instrumentation and Measurement

DOI

2024

The Fault Detection and Virtual Reconstruction Method for Underwater Navigation System

Di Wang, Haoqian Huang, Junwei Wang, Bing Wang, Yu Wang

IEEE Transactions on Instrumentation and Measurement

DOI

2024

Biomimetic enhanced polarization orientation method for underwater scenes

Yicheng Wu, Jun Liu, Jun Tang, Haoqian Huang, C. F. Wang, Huiliang Cao, Chong Shen

Optics Communications

DOI

2024

Seamless Micro-Electro-Mechanical System-Inertial Navigation System/Polarization Compass Navigation Method with Data and Model Dual-Driven Approach

Huijun Zhao, Chong Shen, Huiliang Cao, Xuemei Chen, Chenguang Wang, Haoqian Huang, Jie Li

Micromachines

DOI

2023

复杂水下环境中自适应粒子群优化的SINS/DVL组合导航方法

王迪，王冰，黄浩乾，王广才，刘锡祥，姚逸卿

《中国惯性技术学报》

2023

基于扰动观测器的AUV固定时间积分滑模控制方法

黄浩乾，刘睿童，王迪，张梦蝶，晋云飞

《中国惯性技术学报》

2023

基于非线性信道先验的水下盲图像复原方法

黄浩乾，马惊天，武鹏，郑康健，晋云飞，邱榕

《中国惯性技术学报》

2023

Distribute consensus control for underactuated AUVs system based on disturbance observer

Haoqian Huang, Ruitong Liu, Yunfei Jin, Mengdie Zhang

International Symposium on Autonomous Systems (ISAS)

DOI

2023

Robust Filter Method for SINS/DVL/USBL Tight Integrated Navigation System

Di Wang, Bing Wang, Haoqian Huang, Yiqing Yao, Xiang Xu

IEEE Sensors Journal

DOI

2023

State Estimation of Multi-AUV Cooperative Navigation System with Uncertain Observation Loss

Haoqian Huang, Hao Wu, Shuang Zhang

Lecture notes in electrical engineering

DOI

2023

A Novel Bayesian Kalman Filter Under Non-Gaussian Noise for Underwater Integrated Navigation

Haoqian Huang, Aoqi Lv, Shuang Zhang, Rong Qiu

IEEE International Conference on Unmanned Systems (ICUS)

DOI

2023

A Novel Multiscale Fusion Algorithm for Underwater Image Dehazing and Edge Preserving

Haoqian Huang, Yunfei Jin, Shian Sun, Mengdie Zhang

IEEE International Conference on Unmanned Systems (ICUS)

DOI

2023

Robust Filter Algorithm for Underwater Navigation System Aided by Chi-square Information

Di Wang, Bing Wang, Haoqian Huang

Youth Academic Annual Conference of Chinese Association of Automation (YAC)

DOI

2023

A Multisensor Fusion Method Based on Strict Velocity for Underwater Navigation System

Di Wang, Bing Wang, Haoqian Huang, Haixu Zhang

IEEE Sensors Journal

DOI

2023

A Coarse Alignment Method Based on Vector Observation and Truncated Vectorized $\boldsymbol{\kappa}$-Matrix for Underwater Vehicle

Haoqian Huang, Jiaying Wei, Zhang Li, Bing Wang, Shengli Wang

IEEE Transactions on Vehicular Technology

DOI

2023

A Novel Bayesian-Based Adaptive Algorithm Applied to Unobservable Sensor Measurement Information Loss for Underwater Navigation

Haoqian Huang, Shuang Zhang, Di Wang, Keck Voon Ling, Fan Liu, Xiufeng He

IEEE Transactions on Instrumentation and Measurement

DOI

2023

A Novel Calibration Algorithm of SINS/USBL Navigation System Based on Smooth Variable Structure

Di Wang, Bing Wang, Haoqian Huang, Xiang Xu, Yiqing Yao

IEEE Transactions on Instrumentation and Measurement

DOI

2022

基于内模原理的多智能体蜂拥编队跟踪控制

黄蓉，周军，黄浩乾

《计算机仿真》

2022

Online Calibration Method of DVL Error Based on Improved Integrated Navigation Model

Di Wang, Bing Wang, Haoqian Huang, Yiqing Yao

IEEE Sensors Journal

DOI

2022

A Self-Alignment Method Based on Vector Observation for Inertial Sensors Applied to AUV

Haoqian Huang, Jiaying Wei, Shuang Zhang

IEEE International Symposium on Industrial Electronics (ISIE)

DOI

2022

A Novel Underwater Image Enhancement Method Based on the Dual-Image Fusion

Haoqian Huang, Jingtian Ma, Kangjian Zheng, Shuang Zhang, Peng Wu

International Conference on Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD)

DOI

2022

In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS

Haoqian Huang, Jiaying Wei

Applied Sciences

DOI

2022

A Switched Variational Estimation Algorithm for Continuous Discrete Measurement Information Loss in Underwater Navigation: Linear versus Nonlinear

Xiang Hui Song, Haoqian Huang, Chunxiao Ren

Applied Sciences

DOI

2022

An Improved Sage- Husa Adaptive Kalman Filtering Applied to Cooperative Navigation of Autonomous Underwater Vehicles

Haoqian Huang, Hao Wu, Shuang Zhang, Chen Yang, Jiacheng Tang

IEEE International Symposium on Industrial Electronics (ISIE)

DOI

2022

A novel partitioned matrix‐based parameter update method embedded in variational Bayesian for underwater positioning

Haoqian Huang, Jiacheng Tang, Manyi Wang, Bing Wang, Xiufeng He

IET Control Theory and Applications

DOI

2022

In-Motion Initial Alignment Method Based on Vector Observation and Truncated Vectorized K-Matrix for SINS

Haoqian Huang, Jiaying Wei, Di Wang, Zhang Li, Bing Wang

IEEE Transactions on Instrumentation and Measurement

DOI

2021

BP神经网络辅助的SINS/GPS组合导航姿态误差补偿方法研究

王超，周军，黄浩乾，沈寒伊，唐家成

《电子器件》

2021

A Novel Particle Swarm Optimization Algorithm Based on Reinforcement Learning Mechanism for AUV Path Planning

Haoqian Huang, Chao Jin

Complexity

DOI

2021

An Improved Retinex Algorithm for Underwater Image Enhancement Based on HSV Model

Haoqian Huang, Yuanfeng Jin, Guanghui Li

International Conference on Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD)

DOI

2021

Magnetometer Error Compensation Algorithm Based on Immune Adaptation Particle Swarm Optimization Algorithm

Haoqian Huang, Peng Wang, Hanyi Shen

International Conference on Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD)

DOI

2021

An Improved Initial Alignment Method using Kalman Filtering of the Vectorized K-matrix

Haoqian Huang, Jiaying Wei, Chao Jin, Jiacheng Tang

International Conference on Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD)

DOI

2021

A novel matrix block algorithm based on cubature transformation fusing variational Bayesian scheme for position estimation applied to MEMS navigation system

Haoqian Huang, Jiacheng Tang, Rui Song, Xinhua Tang

Mechanical Systems and Signal Processing

DOI

2021

Positioning Parameter Determination Based on Statistical Regression Applied to Autonomous Underwater Vehicle

Haoqian Huang, Jiacheng Tang, Bo Zhang

Applied Sciences

DOI

2021

Variational Bayesian-Based Filter for Inaccurate Input in Underwater Navigation

Haoqian Huang, Jiacheng Tang, Cong Liu, Bo Zhang, Bing Wang

IEEE Transactions on Vehicular Technology

DOI

2020

An Improved FastSLAM Using Resampling Based on Particle Fission Propagation

Haoqian Huang, Yuanfeng Jin, Jiacheng Tang

Chinese Automation Congress

DOI

2020

A Novel State Estimation Algorithm Based on Variational Bayesians Method Applied to AUV

Haoqian Huang, Jiacheng Tang, Chao Wang

International Conference on Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD)

DOI

2020

A Quadratic Interpolation-Based Variational Bayesian Algorithm for Measurement Information Lost in Underwater Navigation

Yuan Yang, Jiacheng Tang, Haoqian Huang, Xiaoguo Zhang, Tingting Zhang, Yujin Kuang

Mathematical Problems in Engineering

DOI

2020

An Adaptive Variational Bayesian Algorithm for Measurement Loss for Underwater Navigation

Haoqian Huang, Jiacheng Tang, Yuanfeng Jin

IEEE International Conference on Signal Processing, Communications and Computing (ICSPCC)

DOI

2020

Integrated navigation of GPS/INS based on fusion of recursive maximum likelihood IMM and Square-root Cubature Kalman filter

Rui Song, Xiyuan Chen, Yongchun Fang, Haoqian Huang

ISA Transactions

DOI

2020

Cubature Kalman Filtering Fusing Expectationmaximization Method for Attitude Determination Applied to Underwater Glider

Haoqian Huang, Guangsheng Wu, Jiacheng Tang

IEEE International Symposium on Industrial Electronics (ISIE)

DOI

2020

A Novel Nonlinear Algorithm for Non-Gaussian Noises and Measurement Information Loss in Underwater Navigation

Haoqian Huang, Jiacheng Tang, Bo Zhang, Jianfeng Chen, Jiajin Zhang, Xiang Hui Song

IEEE Access

DOI

2019

Flexible Formation Control through Time-Varying Weighting Multi-Agent Flocking

Rong Huang, Jun Zhou, Haoqian Huang

Chinese Control and Decision Conference (CCDC)

DOI

2019

Combination of iterated cubature Kalman filter and neural networks for GPS/INS during GPS outages

Fengyu Liu, Xiaohong Sun, Yufeng Xiong, Haoqian Huang, Xiaoting Guo, Yu Zhang, Chong Shen

Review of Scientific Instruments

DOI

2019

Attitude determination method integrating square-root cubature Kalman filter with expectation-maximization for inertial navigation system applied to underwater glider

Haoqian Huang, Rengdu Shi, Jun Zhou, Yuan Yang, Rui Song, Jianfeng Chen, WU Guo-qing, Jiajin Zhang

Review of Scientific Instruments

DOI

2019

An Improved Optical Flow Algorithm Based on Mask-R-CNN and K-Means for Velocity Calculation

Yahui Peng, Xiaochen Liu, Chong Shen, Haoqian Huang, Donghua Zhao, Huiliang Cao, Xiaoting Guo

Applied Sciences

DOI

2019

An Enhanced Fusion Strategy for Reliable Attitude Measurement Utilizing Vision and Inertial Sensors

Hanxue Zhang, Chong Shen, Xuemei Chen, Huiliang Cao, Donghua Zhao, Haoqian Huang, Xiaoting Guo

Applied Sciences

DOI

2019

A New Cubature Kalman Filtering with M-method for Attitude Determination

Haoqian Huang, Rengdu Shi, Jun Zhou, Xinhua Tang, Tie Huang, Jiajin Zhang

IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace)

DOI

2019

Brain-Like Navigation Scheme based on MEMS-INS and Place Recognition

Chong Shen, Xiaochen Liu, Huiliang Cao, Yuchen Zhou, Jun Liu, Jun Tang, Xiaoting Guo, Haoqian Huang, Xuemei Chen

Applied Sciences

DOI

2019

High-G Calibration Denoising Method for High-G MEMS Accelerometer Based on EMD and Wavelet Threshold

Qing Lu, Lixin Pang, Haoqian Huang, Chong Shen, Huiliang Cao, Yunbo Shi, Jun Liu

Micromachines

DOI

2018

水下导航技术及应用的虚拟仿真教学模式探究

黄浩乾，李林敏

《教育教学论坛》

2018

Quasi-Newton Cubature Kalman Filitering Method Based on BFGS Correction Formula for Attitude Determination Applied to Underwater Glider

Haoqian Huang, Tie Huang, Jun Zhou, Kangrui Hong, Zhiqiang Liu, Chen Qu

IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace)

DOI

2018

A novel algorithm of improved cubature unscented Kalman filter based on the model of magnetometer for underwater glider navigation system

Haoqian Huang, Tianhang Lu, Jun Zhou, Chen Qu, Kangrui Hong, Tie Huang, Jianfeng Chen

Youth Academic Annual Conference of Chinese Association of Automation (YAC)

DOI

2018

Nonstationary dynamic stochastic error analysis of fiber optic gyroscope based on optimized Allan variance

Rui Song, Xiyuan Chen, Haoqian Huang

Sensors and Actuators A Physical

DOI

2018

Attitude Estimation Fusing Quasi-Newton and Cubature Kalman Filtering for Inertial Navigation System Aided With Magnetic Sensors

Haoqian Huang, Jun Zhou, Jun Zhang, Yuan Yang, Rui Song, Jianfeng Chen, Jiajin Zhang

IEEE Access

DOI

2016

低纬度地区GPS电离层闪烁信号幅度衰减特性分析（英文）

祝雪芬，陈熙源，黄浩乾，陈建锋，徐斌铖

Journal of Southeast University(English Edition)

2015

水下滑翔器惯性组合导航定位关键技术研究

黄浩乾

《东南大学》

2014

水下滑翔器位姿估计的改进高斯混合粒子滤波器设计与验证（英文）

黄浩乾，陈熙源，吕才平，周智恺，赵伟洪

《中国惯性技术学报》

精选作品

期刊论文

水下SLAM及多信息融合方法研究综述

A Novel Mixed Correntropy Criterion Algorithm for Underwater SINS/DVL System

水下机器人回收过程中目标光源识别与定位研究综述

基于贝叶斯和统计相似度量测的水下自主定位方法

A Novel Variational Bayesian Method with Unknown Noise for Underwater INS/DVL/USBL Localization

A Novel SINS/DVL Method Based on Smooth Variable Structure and Improved Variational Bayesian Adaptive Kalman Filter

VIA-SLAM: An Underwater Visual–Inertial–Acoustic SLAM With Integrated DVL

A Novel Sonar Image Preprocessing Method for AUV Positioning Based on Underwater SLAM

A Novel Underwater PSO-SVR Calibration Method for SINS/DVL

Improved MHE-Based Tightly Coupled SINS/USBL Method for Underwater Navigation

Navigation Control and Signal Processing Methods for Multiple Autonomous Unmanned Systems

A Novel Variational Bayesian Method Based on Student’s t Noise for Underwater Localization

Iterated Extended Kalman Filter Based on Particle Swarm Optimization and Its Application to Underwater Robot Navigation

An Improved EKF-Based Localization Method for Underwater Single Beacon

基于模型预测的AUV轨迹跟踪滑模控制方法

An Improved Robust Filter Method for SINS/DVL System With Earth Frame Error Model

A Novel SINS/DVL Integrated Navigation Method Based on Different Track Models for Complex Environment

The Fault Detection and Virtual Reconstruction Method for Underwater Navigation System

Biomimetic enhanced polarization orientation method for underwater scenes

Seamless Micro-Electro-Mechanical System-Inertial Navigation System/Polarization Compass Navigation Method with Data and Model Dual-Driven Approach

复杂水下环境中自适应粒子群优化的SINS/DVL组合导航方法

基于扰动观测器的AUV固定时间积分滑模控制方法

基于非线性信道先验的水下盲图像复原方法

Distribute consensus control for underactuated AUVs system based on disturbance observer

Robust Filter Method for SINS/DVL/USBL Tight Integrated Navigation System

State Estimation of Multi-AUV Cooperative Navigation System with Uncertain Observation Loss

A Novel Bayesian Kalman Filter Under Non-Gaussian Noise for Underwater Integrated Navigation

A Novel Multiscale Fusion Algorithm for Underwater Image Dehazing and Edge Preserving

Robust Filter Algorithm for Underwater Navigation System Aided by Chi-square Information

A Multisensor Fusion Method Based on Strict Velocity for Underwater Navigation System

A Coarse Alignment Method Based on Vector Observation and Truncated Vectorized $\boldsymbol{\kappa}$-Matrix for Underwater Vehicle

A Novel Bayesian-Based Adaptive Algorithm Applied to Unobservable Sensor Measurement Information Loss for Underwater Navigation

A Novel Calibration Algorithm of SINS/USBL Navigation System Based on Smooth Variable Structure

基于内模原理的多智能体蜂拥编队跟踪控制

Online Calibration Method of DVL Error Based on Improved Integrated Navigation Model

A Self-Alignment Method Based on Vector Observation for Inertial Sensors Applied to AUV

A Novel Underwater Image Enhancement Method Based on the Dual-Image Fusion

In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS

A Switched Variational Estimation Algorithm for Continuous Discrete Measurement Information Loss in Underwater Navigation: Linear versus Nonlinear

An Improved Sage- Husa Adaptive Kalman Filtering Applied to Cooperative Navigation of Autonomous Underwater Vehicles

A novel partitioned matrix‐based parameter update method embedded in variational Bayesian for underwater positioning

In-Motion Initial Alignment Method Based on Vector Observation and Truncated Vectorized K-Matrix for SINS

BP神经网络辅助的SINS/GPS组合导航姿态误差补偿方法研究

A Novel Particle Swarm Optimization Algorithm Based on Reinforcement Learning Mechanism for AUV Path Planning

An Improved Retinex Algorithm for Underwater Image Enhancement Based on HSV Model

Magnetometer Error Compensation Algorithm Based on Immune Adaptation Particle Swarm Optimization Algorithm

An Improved Initial Alignment Method using Kalman Filtering of the Vectorized K-matrix

A novel matrix block algorithm based on cubature transformation fusing variational Bayesian scheme for position estimation applied to MEMS navigation system

Positioning Parameter Determination Based on Statistical Regression Applied to Autonomous Underwater Vehicle

Variational Bayesian-Based Filter for Inaccurate Input in Underwater Navigation

An Improved FastSLAM Using Resampling Based on Particle Fission Propagation

A Novel State Estimation Algorithm Based on Variational Bayesians Method Applied to AUV

A Quadratic Interpolation-Based Variational Bayesian Algorithm for Measurement Information Lost in Underwater Navigation

An Adaptive Variational Bayesian Algorithm for Measurement Loss for Underwater Navigation

Integrated navigation of GPS/INS based on fusion of recursive maximum likelihood IMM and Square-root Cubature Kalman filter

Cubature Kalman Filtering Fusing Expectationmaximization Method for Attitude Determination Applied to Underwater Glider

A Novel Nonlinear Algorithm for Non-Gaussian Noises and Measurement Information Loss in Underwater Navigation

Flexible Formation Control through Time-Varying Weighting Multi-Agent Flocking

Combination of iterated cubature Kalman filter and neural networks for GPS/INS during GPS outages

Attitude determination method integrating square-root cubature Kalman filter with expectation-maximization for inertial navigation system applied to underwater glider

An Improved Optical Flow Algorithm Based on Mask-R-CNN and K-Means for Velocity Calculation

An Enhanced Fusion Strategy for Reliable Attitude Measurement Utilizing Vision and Inertial Sensors

A New Cubature Kalman Filtering with M-method for Attitude Determination

Brain-Like Navigation Scheme based on MEMS-INS and Place Recognition

High-G Calibration Denoising Method for High-G MEMS Accelerometer Based on EMD and Wavelet Threshold

水下导航技术及应用的虚拟仿真教学模式探究

Quasi-Newton Cubature Kalman Filitering Method Based on BFGS Correction Formula for Attitude Determination Applied to Underwater Glider

A novel algorithm of improved cubature unscented Kalman filter based on the model of magnetometer for underwater glider navigation system

Nonstationary dynamic stochastic error analysis of fiber optic gyroscope based on optimized Allan variance

Attitude Estimation Fusing Quasi-Newton and Cubature Kalman Filtering for Inertial Navigation System Aided With Magnetic Sensors

低纬度地区GPS电离层闪烁信号幅度衰减特性分析（英文）

水下滑翔器惯性组合导航定位关键技术研究

水下滑翔器位姿估计的改进高斯混合粒子滤波器设计与验证（英文）

会议论文

基于拉普拉斯的改进组合导航鲁棒滤波算法研究

Magnetometer Error Compensation Algorithm Based on Improved Particle Swarm Optimization Algorithm

A Fine Anti-Noise Algorithm Based on Matrix Block Variational Estimation in Underwater Navigation

水下机器人任务执行次序与路径规划改进算法