Straight Track Tracking of Paddle Boat Based on Kalman Filter

Linear orbit tracking algorithm of navigation for aquaculture paddle boat. Based on the motion coordinate system, after the establishment of the paddle boat hydrodynamic model, the transfer function and state equation of the paddle boat yaw angle system, the sliding mode control method is adopted to achieving high-precision track tracking for the paddle boat. In order to save the energy, reduce the active frequency of the control system caused by the disturbance, and extend the duration of sailing of the paddle boat, the Kalman filter is proposed to reduce the influence of the disturbance on the track tracking. The simulation and experimental verification show that the sliding mode control method based on Kalman filter can realize high-precision linear track tracking, and Kalman filter can effectively reduce the influence of disturbance.