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A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle

Published online by Cambridge University Press:  03 March 2015

A. Annamalai ,
A. Motwani ,
S.K. Sharma ,
R. Sutton ,
P. Culverhouse  and
C. Yang
A. Annamalai
Affiliation:
(School of Marine Science and Engineering, Plymouth University, Plymouth, UK)
A. Motwani*
Affiliation:
(School of Marine Science and Engineering, Plymouth University, Plymouth, UK)
S.K. Sharma
Affiliation:
(School of Marine Science and Engineering, Plymouth University, Plymouth, UK)
R. Sutton
Affiliation:
(School of Marine Science and Engineering, Plymouth University, Plymouth, UK)
P. Culverhouse
Affiliation:
(School of Computing and Mathematics, Plymouth University, Plymouth, UK)
C. Yang
Affiliation:
(School of Computing and Mathematics, Plymouth University, Plymouth, UK)
*
(E-mail: amit.motwani@plymouth.ac.uk)
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Abstract

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This paper proposes the novel use of a weighted Interval Kalman Filter (wIKF) in a robust navigational approach for integration with the guidance and control systems of an uninhabited surface vehicle named Springer. The waypoint tracking capability of this technique is compared with that of one that uses a conventional Kalman Filter (KF) navigational design, when the model of the sensing equipment used by the filter is incorrect. In this case, the KF fails to predict correctly the vehicle's heading, which consequently impacts negatively on the performance of its integrated navigation, guidance and control (NGC). However, the use of a wIKF technique that is immune to this kind of erroneous modelling endows the integrated NGC system with better accuracy and efficiency in completing a mission.

Keywords

Navigation, guidance and controlInterval Kalman filteringRobust estimationUninhabited surface vehicle

Information

Type
Research Article
Information
The Journal of Navigation , Volume 68 , Issue 4 , July 2015 , pp. 750 - 768
Copyright
Copyright © The Royal Institute of Navigation 2015 

References

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