ORCID
- Sharma, Sanjay: 0000-0002-5062-3199
Abstract
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.
DOI
10.1017/s0373463315000065
Publication Date
2015-07-01
Publication Title
Journal of Navigation
Volume
68
Issue
4
First Page
750
Last Page
768
ISSN
0373-4633
Organisational Unit
School of Engineering, Computing and Mathematics
Recommended Citation
Annamalai, A., Motwani, A., Sharma, S., Sutton, R., Culverhouse, P., & Yang, C. (2015) 'A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle', Journal of Navigation, 68(4), pp. 750-768. Available at: https://doi.org/10.1017/s0373463315000065
