An Improved Quartile Fault Tolerant Filter Algorithm for Intelligent Ship

In order to solve the problem of intermittent failure of the sensor equipped in intelligent ship due to the change of working environment and the interference between the equipment and other factors in the autonomous navigation, a fault tolerant filter algorithm was designed. Combining with the sliding quartile filter, the residual compensation and the linear estimation, the sensor data with noise interference and intermittent packet loss was filtered to obtain more real data, which is conducive to improving the control accuracy of the intelligent vessel. At the same time, fading memory factor was introduced to reduce the weight of historical measurement data in linear estimation. It is proved that the algorithm has a high fault tolerance for sensor intermittent fault by numerical simulation.