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Adaptive Integrated Navigation Algorithm Based on Interactive Filter.

Bin Zhao¹, Chunlei Gao², Hui Xia¹

¹School of Marine and Electrical Engineering, Jiangsu Maritime Institute, Nanjing 211100, China.

Sensors (Basel, Switzerland)

|August 14, 2025

Summary

This summary is machine-generated.

A new interactive robust filter algorithm enhances unmanned aerial vehicle navigation. This algorithm improves state estimation accuracy and robustness in challenging dynamic noise environments and system uncertainties.

Keywords:

estimation accuracy integrated navigation interactive robust filter smooth variable structure filter strong tracking filter

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Area of Science:

Robotics
Control Systems
Navigation Systems

Background:

Integrated navigation for unmanned aerial vehicles (UAVs) demands high accuracy and robustness.
Existing filters face challenges in complex dynamic noise and system uncertainties.

Purpose of the Study:

To propose an interactive robust filter algorithm for UAV integrated navigation.
To enhance state estimation accuracy and robustness under adverse conditions.

Main Methods:

An interactive robust filter algorithm integrating interactive multiple model (IMM) concept.
Complementary use of strong tracking filter (STF) and smooth variable structure filter (SVSF) with distinct models.
Likelihood function for updating filter probabilities and weights, followed by input interaction and output fusion.

Main Results:

The proposed algorithm significantly reduces estimation errors.
High-precision state estimation and improved robustness are achieved in complex dynamic noise and system uncertainties.
Over 16% improvement in velocity accuracy and over 40% improvement in position accuracy compared to the strong tracking smooth filter.

Conclusions:

The interactive robust filter algorithm offers superior performance for UAV navigation.
It effectively addresses the trade-offs between accuracy and robustness in dynamic environments.
Demonstrates significant advancements over existing filtering techniques for UAV applications.