Distributed ship relative positioning algorithm in the MITS

Most of the traditional ship positioning methods only consider how to integrate or fuse the active information from GPS, SINS, TNS, and SMS and so forth. But because of the complexity possessed by the modern marine intelligent transport system (MITS) and the uncertainty of hardware systems, especially the fallibility of GPS, the application abilities of the current ship positioning methods are limited badly and suffer many problems and challenges. Aiming at these, the ship navigation positioning based on relative measurements (SNPRM) algorithm, which uses the other shippsilas information to further update the target shippsilas active integrated navigation positioning estimate (AINPE), has been presented. Accordingly, the accuracy and reliability of the navigation positioning estimate are improved. Unfortunately, it is suboptimal in minimum mean square error (MMSE) and doesnpsilat have feedback function; therefore, both of them lead directly the low accuracy and bad local performance. In order to solve the above problems, a novel distributed SNPRM (DSNPRM) method is proposed in this paper by introducing the optimal distributed fusion and global feedback. The algorithm analysis and simulation both show its validity and superiority compared with the current SNPRM algorithm.