基于极大后验估计和模糊控制的水下无源定位技术

针对高海况条件下因海流扰动的影响导致观测噪声方差未知时变的特点, 基于模糊控制技术提出一种基于FCMAP-UKF 滤波技术的水下无源组合导航系统状态估计方法. 该方法在滤波迭代过程中引入模糊自适应因子, 对未知观测噪声方差阵进行动态调节, 提高了系统的自适应能力和鲁棒性. 滤波结果表明, 该系统在达到传统方法精度的同时, 能够克服自主导航过程中不确定的噪声和随机干扰的影响而进行有效的定位导航.

Underwater passive location technology based on MAP and fuzzy control

Under the high sea state conditions, considering ocean current disturbance can lead to uncertain covariance statistic of the measurement noise. Therefore, a state estimation method of underwater passive integrated navigation with FCMAP-UKF based on the fuzzy control method is presented. In this method, fuzzy adaptive factor is adopted to improve the adaptive ability and rubustness of the filter by adjusting the uncertain covariance of measurement noise dynamically during the filtering process. Filter results show that the accuracy of the proposed method can achieve the traditional method and in the same time can overcome uncertain noise and disturbance in autonomous navigation system and provide reliable and effective positioning services.