فصلنامه
نوع مقاله : مقاله پژوهشی
نویسندگان
1 گروه مهندسی برق، دانشکده مهندسی، دانشگاه سلمان فارسی کازرون، کازرون، ایران
2 گروه مهندسی برق مخابرات، دانشکده مهندسی برق، دانشگاه آزاد اسلامی واحد کازرون، ایران
کلیدواژهها
عنوان مقاله English
نویسندگان English
The challenge of designing and implementing optimal data fusion methods that are both robust to uncertainties and simple enough for practical deployment has become a significant topic of interest in a wide range of navigation and positioning systems. In this study, inspired by the principles of Proportional-Integral-Derivative (PID) control theory and integrating them with the conventional structure of the standard Kalman filter, we propose a novel data fusion approach. This method is specifically designed to improve robustness against measurement uncertainties from the Doppler Velocity Log (DVL) sensor in an integrated marine navigation system based on INS/DVL. The proposed approach aims to enhance the system’s resilience without introducing excessive computational complexity. Simulation results demonstrate that the integrated navigation system using the proposed algorithm outperforms traditional Kalman filter-based systems in terms of accuracy and response time, particularly under conditions involving sensor errors or uncertainty. These findings highlight the potential of the method for real-world applications in marine navigation scenarios.
کلیدواژهها English
