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1 results

  • Interval Kalman Filtering in Navigation System Design for an Uninhabited Surface Vehicle

  • A Motwani, SK Sharma, R Sutton, P Culverhouse
  • Journal:
    The Journal of Navigation / Volume 66 / Issue 5 / September 2013
    Published online by Cambridge University Press:
    23 May 2013, pp. 639-652
    Print publication:
    September 2013
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  • This paper reports on the potential application of interval Kalman filtering techniques in the design of a navigation system for an uninhabited surface vehicle named Springer. The interval Kalman filter (IKF) is investigated for this task since it has had limited exposure for such usage. A state-space model of the Springer steering dynamics is used to provide a framework for the application of the Kalman filter (KF) and IKF algorithms for estimating the heading angle of the vessel under erroneous modelling assumptions. Simulations reveal several characteristics of the IKF, which are then discussed, and a review of the work undertaken to date presented and explained in the light of these characteristics, with suggestions on potential future improvements.