Underwater information fusion algorithm based on maneuvering mathematical model and robust filter
Peng Cai · Journal of Dalian Maritime University · 2011
To accurately describe nonlinear change of sailing state,a underwater information fusion system model based on maneuvering mathematical model was proposed,and the system state space equations were given.A robust filter was presented to improve SR-UKF filtering stability.Simulation results dem-onstrate that the precision and stability of the proposed informa-tion fusion algorithm based on maneuvering mathematical model and robust filter are better than that of traditional algorithm,which can track maneuvering process effectively and improve underwater positioning precision.