Research on navigation for underwater unmanned vehicle based on dynamic gray filtering method

摘要

According to the problem of large platform noise and external disturbance influence and the data may have outliers for UUV navigation, a dynamic grey filtering method based on fractional order operator is proposed. This method does not require prior knowledge and noise statistical properties of UUV system while establishing a dynamic grey model based on fractional operator according to navigation data. The deviation between the grey prediction value and the next navigation sample value is calculated and the data is fused according to the deviation to realize the real-time filtering. The simulation results show that the method is effective and feasible.