Adaptive Kalman Filtering Localization Calibration Method Based on Dynamic Mutation Perception and Collaborative Correction.

Aiming at the problem of reduced positioning accuracy of unmanned swarm navigation systems due to dynamic abrupt noise in a complex electromagnetic environment, this paper proposes an adaptive Kalman filtering positioning and calibration method based on dynamic mutation perception and collaborative correction. This method optimizes the performance of Kalman filtering by monitoring the mutation of acceleration and velocity in real time, designing a dynamic threshold detection mechanism, adaptively adjusting the covariance matrix, and using multidimensional scaling analysis to calculate the similarity of trajectories and collaboratively correct the current state. The experiment uses simulation and real scene data and compares algorithms such as the traditional extended Kalman filter to verify the effectiveness of the proposed method, providing an effective solution for the collaborative positioning of an unmanned swarm under complex electromagnetic interference.