Stochastic filtering of unmanned objects parameters in conditions of uncertainty
Sergei Sokolov, Irina Vitalievna Reshetnikova, Dmitrii Marshakov, Nikolay Gapon, Evgeny A. Semenishchev · 2024
The approach to solving the problem of positioning unmanned transport objects, in particular, railway transport, in conditions of measurement interference uncertainty is considered. Today, a large number of urban (as well as railway) infrastructure facilities generate an unpredictable nature of disturbances acting on navigation sensors of unmanned objects. In this case, the use of both satellite measurements and various sensors located on the site (in particular, a video surveillance system) often becomes impossible. A stable high-precision solution to the problem of positioning unmanned transport objects becomes necessary. To solve this problem, the article proposes to use autonomous linear motion parameter meters as sensitive elements of the navigation complex. It is proposed to use a Kalman filter and a robust filtration method to process noisy measurements, including those with uncertain probability characteristics.