中文摘要：

无人测量艇重量轻、工作航速慢（通常7节左右）,其航向可观测性弱。在高海况和强浪、流、涌条件下,罗经传感器的航向角观测值不平稳,无法满足海事测量艇的控制精度要求。为实现无人艇航向角的平滑滤波,根据系统控制频率和艇体运动性能对航向过程噪声进行有效估计。根据估计的过程噪声利用α-β滤波器对无人艇航向进行滤波。然而航向角的值域范围在边界处不连续,直接利用α-β滤波器在边界处会产生奇异值。为此提出一种边界滤波策略实现航向全域的平稳滤波。实测数据回放验证了此方法在无人测量艇航向导航控制中的有效性。

英文摘要：

For light-weight unmanned surface vessel （USV）, the observability of course is low when sailing at low speed （7 knots）. In terrible ocean environment and under strong waves, currents and surges, the compass sensor reading is not stable, which is difficult to meet the control accuracy requirement of marine USV. In order to realize the smoothing filtering of the course angle of USV, this article estimates the process noise of course angle effectively according to the system control frequency and boat body movement performance. An α-βfilter is used to smoothing the course of USV based on the estimated process noise. However, the value range of the course angle is not continuous in the boundary, which will cause singular value when directly using α-β filter. To solve the problem a boundary filtering strategy is proposed to realize the full range smooth filtering for the course angle. Real measured data playback verifies the effectiveness of the method in course angle navigation control of USV.