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A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle / A. Annamalai; A. Motwani; S.K. Sharma; R. Sutton; P. Culverhouse; C. Yang; Chenguang Yang

Journal of Navigation, Volume: 68, Issue: 04, Pages: 750 - 768

Swansea University Author: Chenguang, Yang

DOI (Published version): 10.1017/S0373463315000065

Abstract

In this paper, we propose a novel robust navigational approach to be integrated with the guidance and control systems of an uninhabitedsurface vehicle Springer. A weighted Interval Kalman Filter (wIKF) in used for waypoint tracking, and has been compared with that of one that uses a conventional Kal...

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Published in: Journal of Navigation
Published: 2015
URI: https://cronfa.swan.ac.uk/Record/cronfa27027
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Abstract: In this paper, we propose a novel robust navigational approach to be integrated with the guidance and control systems of an uninhabitedsurface vehicle Springer. A weighted Interval Kalman Filter (wIKF) in used for waypoint tracking, and has been compared with that of one that uses a conventional Kalman Filter (KF) navigational design. The conventional KF fails to predict correctly the vehicle’s heading when there is unmodelled uncertainty of the sensing equipment, and thus would negatively affect the performance of subsequent navigation, guidance and control (NGC). While the proposed method using a wIKF technique enhances robustness with respect to erroneous modelling, and thus secures better accuracy and efficiency in completing a mission.
College: College of Engineering
Issue: 04
Start Page: 750
End Page: 768