Research on Ship Track Fusion Model based on Distributed Extended Kalman Filter

Radar and AIS (Automatic Identification System, AIS) are two types of safety navigational aids that ships must be equipped with. Due to the complementarity and redundancy of the data collected by the two, the fusion method of AIS and radar information can be used to improve the accuracy of the track. In view of the fact that the distributed Kalman filtering method that has emerged in recent years fails to consider the impact of ship speed changes on the fusion accuracy, this paper puts forward a ship track fusion model based on distributed extended Kalman filter. The correctness and effectiveness of the proposed method are illustrated through the analysis of evaluation indicators and experiments.