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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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spelling 2018-01-10T17:53:41.0696721 v2 27027 2016-04-01 A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle d2a5024448bfac00a9b3890a8404380b Chenguang Yang Chenguang Yang true false 2016-04-01 EEN 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. Journal Article Journal of Navigation 68 04 750 768 31 7 2015 2015-07-31 10.1017/S0373463315000065 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2018-01-10T17:53:41.0696721 2016-04-01T18:32:32.5120470 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised A. Annamalai 1 A. Motwani 2 S.K. Sharma 3 R. Sutton 4 P. Culverhouse 5 C. Yang 6 Chenguang Yang 7 0027027-01042016185732.pdf Annamalai.pdf 2016-04-01T18:57:32.9370000 Output 1757178 application/pdf Accepted Manuscript true 2016-05-17T00:00:00.0000000 true
title A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle
spellingShingle A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle
Chenguang Yang
title_short A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle
title_full A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle
title_fullStr A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle
title_full_unstemmed A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle
title_sort A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle
author_id_str_mv d2a5024448bfac00a9b3890a8404380b
author_id_fullname_str_mv d2a5024448bfac00a9b3890a8404380b_***_Chenguang Yang
author Chenguang Yang
author2 A. Annamalai
A. Motwani
S.K. Sharma
R. Sutton
P. Culverhouse
C. Yang
Chenguang Yang
format Journal article
container_title Journal of Navigation
container_volume 68
container_issue 04
container_start_page 750
publishDate 2015
institution Swansea University
doi_str_mv 10.1017/S0373463315000065
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description 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.
published_date 2015-07-31T03:32:39Z
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score 10.998116

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