Synergetic navigation wave filtering method having robust characteristic

The present invention discloses a synergetic navigation wave filtering method having a robust characteristic. According to the method, the measurement information from a main boat and received by a sub-boat is subjected to abnormal judgment by using projection statistics to obtain the weight value of the measurement information, and a synergetic navigation robust wave filtering model based on improved Huber estimation is established so as to improve the positioning precision of the sub-boat. According to the present invention, the projection statistical abnormal point identification method and the improved Huber estimation method are combined so as to improve the positioning precision of the synergetic navigation sub-boat under the abnormal measurement noise and enhance the robust property of the wave filtering algorithm; and the method is characterized in that the high precision can be maintained when the measurement noise is an approximate Gaussian distribution and the abnormal value occurs, and the robustn