Design of Integrated Navigation System for Unmanned Surface Vehicle Based on Improved Federated UKF
An Unscented Kalman Filtering(UKF)algorithm based on the improved federated structure is proposed to address the problem of low filtering accuracy in large-scale operations of unmanned boats in the long voyages under high sea conditions,which is applied to a self-developed unmanned boat integrated navigation system.Systematic error equations and measurement equations are established.The federated UKF algorithm is improved by introducing the fading factor,the variable factor based on the difference between measured and predicted values,and the adaptive optimal information allocation factor to maintain strong information tracking and information fusion accuracy of the integrated navigation system,and to obtain the global optimal estimate.A lake trial was conducted to verify the effectiveness of the integrated navigation system,and the results showed that the system has good real-time performance,stability,and strong anti-interference ability,which effectively improves navigation accuracy.This method not only provides safety assurance for unmanned craft operation,but also serves as a reference for the design of other integrated navigation systems.
unmanned surface vehiclefederal structureimproved Unscented Kalman Filtering(UKF)algorithmintegrated navigation system
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