| 一种基于改进无迹卡尔曼滤波的自主水下航行器组合导航方法研究 |
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| 引用本文： | 刘明雍,胡俊伟,李闻白.一种基于改进无迹卡尔曼滤波的自主水下航行器组合导航方法研究[J].兵工学报,2011,32(2):252-256. |
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| 作者姓名： | 刘明雍 胡俊伟 李闻白 |
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| 作者单位： | (西北工业大学 航海学院, 陕西 西安 710072) |
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| 基金项目： | 国家自然科学基金，新世纪优秀人才计划资助 |
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| 摘 要： | 针对自主水下航行器(AUV)导航系统对稳定性、精确性和实时性的需求,提出了一种基于改进无迹卡尔曼滤波(UKF)算法的捷联惯性导航系统/多普勒测速仪(SINS/DVL)组合导航新方法.通过分析中低精度组合导航系统的特点和误差模型,在系统的噪声模型为复杂加性噪声时,利用球面分布单形采样变换设计了一种简化UKF组合导航算法....
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| 关 键 词： | 自动控制技术 自主水下航行器 无迹卡尔曼滤波 球面分布单形采样 组合导航 |
Research on Integrated Navigation for Autonomous Underwater Vehicle Based on an Improved Unscented Kalman Filter |
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| LIU Ming-yong,HU Jun-wei,LI Wen-bai.Research on Integrated Navigation for Autonomous Underwater Vehicle Based on an Improved Unscented Kalman Filter[J].Acta Armamentarii,2011,32(2):252-256. |
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| Authors: | LIU Ming-yong HU Jun-wei LI Wen-bai |
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| Affiliation: | (School of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, Shaanxi, China) |
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| Abstract: | To meet the stability,precision and real-time performance of navigation system for autonomous underwater vehicle(AUV),a novel SINS/DVL integrated navigation method based on improved unscented Kalman filter(UKF) algorithm is presented.By analyzing the characteristics and error model of the low-precision integrated navigation system,a simplified UKF integrated navigation algorithm based on spherical simplex sampling transformation is designed for the additive and complex noise model of the system.Simulation results show that this algorithm can effectively reduce the computational complexity and improve the efficiency of the navigation system without loss of filtering accuracy compared with the traditional UKF algorithm using scaled symmetric sampling. |
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| Keywords: | automatic control technology autonomous underwater vehicle unscented Kalman filter spherical simplex sampling integrated navigation |
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