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Volume 28 Issue 1
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2020  >  28(1): 039-45
WANG Bin, WEN Quan, FAN Shi-dong. A Target Tracking Algorithm for UUV Based on Huber M-CKF[J]. Journal of Unmanned Undersea Systems, 2020, 28(1): 039-45. doi: 10.11993/j.issn.2096-3920.2020.01.006
Citation: WANG Bin, WEN Quan, FAN Shi-dong. A Target Tracking Algorithm for UUV Based on Huber M-CKF[J]. Journal of Unmanned Undersea Systems, 2020, 28(1): 039-45. doi: 10.11993/j.issn.2096-3920.2020.01.006
shu

A Target Tracking Algorithm for UUV Based on Huber M-CKF

doi: 10.11993/j.issn.2096-3920.2020.01.006
  • 1.

    School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, China

  • 2.

    Changjiang Sea-route Planning Design Research Institute, Wuhan 430010, China

  • Received Date: 2019-03-19
  • Rev Recd Date: 2019-07-24
  • Publish Date: 2020-02-29
    Abstract
  • To improve the target tracking accuracy for unmanned undersea vehicle(UUV), a robust M maximum likelihood estimation cost function is introduced into Huber-cubature Kalman filter(H-CKF) for UUV’s target tracking, and the CKF matrix is linearized by changing the normalized innovation covariance. UUV motion model and observation model are established to compare the Huber M-cubature Kalman filter(HM-CKF) with the converted measurement Kalman filter, the cubature Kalman filter and the extended Kalman filter(EKF) under different non-Gaussian noise interferences, and the results show higher filtering precision and stability of the HM-CKF than the traditonal algorithm in complicated undersea acoustic environment.

     

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