关键词: 无人机, 导航定位, 自适应滤波, 强跟踪, 抗差

Abstract: Aiming at the problems that filtering divergence and low positioning accuracy in the application of Sage-Husa adaptive filtering algorithm in UAV navigation and positioning, a strong tracking robust adaptive filtering algorithm is proposed in this paper.The algorithm is based on Sage-Husa adaptive filtering, introduces the strong tracking technology in it, and reduces the influence of historical data on current filtering through adaptive fading factor, so as to suppress the divergence of filtering and enhance the robustness of the algorithm.The measurement noise and system noise are combined for real-time estimation, and the robust factor is added to the estimation to suppress the interference of outliers to the filtering and improve the positioning accuracy.Simulation results show that this algorithm can perform well in the case of filtering divergence and outliers, and has stronger robustness than Sage-Husa algorithm.

Key words: UAV, navigation and positioning, adaptive filtering algorithm, strong tracking, robust