| 舰船导航信号非线性UKF滤波定位解算方法研究 |
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| 引用本文： | 马野,王孝通,李博,傅建国.舰船导航信号非线性UKF滤波定位解算方法研究[J].兵工学报,2007,28(5):539-542. |
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| 作者姓名： | 马野 王孝通 李博 傅建国 |
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| 作者单位： | 大连舰艇学院自动化系，辽宁大连116018 |
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| 摘 要： | 根据UKF( unscented Kalman fliter)的工作机理，对所建立的双星(GPS、劳兰C)／航位推算(DR)舰船组合导航连续非线性系统模型进行解算，形成一套UKF在舰船组合导航中的递推算法。该方法根据随机变量的先验统计特性，按照特定的规则将状态变量分解成2n +1维的散布形式，然后利用统计线性回归技术，实现对非线性函数的线性化，可以获得更小的线性化误差。实船数据试验表明：UKF算法与扩展卡尔曼滤波(EKF)算法相比，系统稳定性更好，滤波器估计精度更高。
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| 关 键 词： | 信息处理技术 unscented卡尔曼滤波 非线性系统 舰船组合导航 扩展卡尔曼滤波 |
| 文章编号： | 1000-1093（2007）05-0539-04 |
| 修稿时间： | 2005-12-12 |
Positioning Algorithm for Ship's Navigation Signal Based on Nonlinear UKF |
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| MA Ye,WANG Xiao-Tong,LI Bo,FU Jian-Guo.Positioning Algorithm for Ship''''s Navigation Signal Based on Nonlinear UKF[J].Acta Armamentarii,2007,28(5):539-542. |
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| Authors: | MA Ye WANG Xiao-Tong LI Bo FU Jian-Guo |
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| Affiliation: | Department of Automation, Dalian Naval Academy, Dalian 116018, Liaoning, China |
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| Abstract: | According to the mechanism of the unscented Kalman fliter(UKF),a continuous nonlinear model of BeiDou(GPS/RLC)/DR integrated navigation system was established,and a corresponding algorithm was proposed.Based on prior statistic characteristic of random variables,state variables are disintegrated into 2n+1 samples in the light of specific rule,and the nonlinear function is linearized by statistic linear regressive technology.By this means,linearization errors are reduced effectively.The experiment with actual data from warship shows that UKF algorithm's estimation precision and the system stability are much better than those of EKF algorithm. |
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| Keywords: | information processing unscented Kalman filtering nonlinear system ship's integrated navigation extended Kalman filtering |
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