Research for navigation technology of underwater robot based on UKF federated filter

Due to the precision faults of underwater robot navigation and position which is caused by prior statistical characteristics and actual inconsistently, UKF federated filtering algorithm is put forward. Federated filter is established for SINS/DYL/DR integrated navigation system. Use UKF localized filtering. SINS/DYL/DR simulation experiments shows: this algorithm confirms higher filtering precision and robustness.