Unmanned ship positioning method based on multi-sensor data fusion

The invention discloses an unmanned ship positioning method based on multi-sensor data fusion. The method comprises the following steps: preprocessing data acquired by a multi-sensor positioning system of the unmanned ship; then, confidence judgment is carried out on the positioning data of the multiple sensors of the unmanned ship through confidence distance inspection, and corresponding confidence factors are given to the inspected positioning data; checking and compensating the fault data by utilizing consistency checking and variance weighting; performing filtering processing on the checked and weighted positioning data of each sensor based on basic particle filtering to realize data enhancement; and finally, performing fusion filtering output processing on the positioning data of the multiple sensors of the unmanned ship by using a new threshold hierarchical particle filtering algorithm to obtain accurate navigation trajectory positioning information of the unmanned ship. According to the method, the fau