Abstract
For the system with unknown statistical property noises, the property that the energies of the system noise and the observation noise are limited is utilized in this paper. On this basis, two novel fusion algorithms are proposed for ship integrated navigation with the relative navigation information, broadcasted by the Automatic Identification Systems (AISs) in the adjacent ships. Firstly, an H∞ fusion filtering algorithm is given to deal with the navigation observation messages, under the centralized fusion framework. The integrated navigation method based on this algorithm cannot deal with the asynchronous navigation messages in real time. Therefore, a sequential H∞ fusion filtering algorithm is also given to sequentially deal with the asynchronous navigation messages, secondly. Finally, a computer simulation is employed to illustrate the validity and feasibility of the sequential method.
Highlights
The integrated navigation systems are utilized in the largest number of modern ships (Yang,2009; Qiu, 2013; Xiong, 2001)
The ship equipped automatic identification systems (AISs) broadcasts its ship identification, speed, course, location, and such other navigation state information to the shore-based AIS stations and other ships equipped AIS. It makes that the ship equipped AIS can obtain the observations sampled by its own navigation devices, and the navigation state information about other ships in certain sea area, which may serve as the relative observation of the target ship
In the fusion framework of centralized fusion (Lin, 2003; Li, 2008; Xing, 2016) and sequential fusion (Feng, 2013; Bai, 2012), two H¥ fusion filter-based relative integrated navigation algorithms are proposed on the basis of the property that the energies of the system noise and the observation noise are limited in finite horizon are utilized
Summary
The integrated navigation systems are utilized in the largest number of modern ships (Yang,2009; Qiu, 2013; Xiong, 2001). The integrated navigation systems fuse the observations sampled by multiple navigation devices, such as, Global Position System (GPS), Inertial Navigation System (INS) and Celestial Navigation System (CNS), to obtain the more accurate and reliable navigational state information of the target ship, compared with the navigation system with single device (Wu, 2009; Li, 2014; Liu, 2011; Guo, 2015). The ship equipped AIS broadcasts its ship identification, speed, course, location, and such other navigation state information to the shore-based AIS stations and other ships equipped AIS. It makes that the ship equipped AIS can obtain the observations sampled by its own navigation devices, and the navigation state information about other ships in certain sea area, which may serve as the relative observation of the target ship.
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