A Novel Adaptive H-Infinity Cubature Kalman Filter Algorithm Based on Sage-Husa Estimator for Unmanned Underwater Vehicle

Rui Yang, Aijun Zhang, Lifei Zhang and Ye Hu

Mathematical Problems in Engineering, 2020, vol. 2020, 1-10

Abstract:

In the navigation of unmanned underwater vehicle (UUV), a filtering algorithm suitable for the working conditions is required. Due to the disturbance from the environment and maneuverability, outliers and noise with time-varying statistical properties always exist, which greatly affect the positioning accuracy and stability of the navigation system. In this paper, we present a novel nonlinear state estimation algorithm named AH∞CKF based on the combination of H∞CKF and Sage-Husa estimator. The recently developed H∞CKF provides nonlinear filtering good robustness, and Sage-Husa estimator could timely modify the statistical properties of noise. The novel algorithm is superior to H∞CKF in accuracy by combining Sage-Husa estimator with the H∞CKF while ensuring robustness. The effectiveness of the novel AH∞CKF is verified by lake experiment and simulation.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:8057028

DOI: 10.1155/2020/8057028

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