自适应卡尔曼滤波法在潜艇水下导航中的应用

当潜艇同时变速、变向时，会导致系统模型发生变化．采用基于海流数据库的卡尔曼滤波算法获得海流信息，对潜艇经纬度，海流东北分量和航向、航速等非线性微分方程进行线性化处理，得出转移矩阵，推算出潜艇某时刻的测量向量和测量矩阵．对各方程式卡尔曼滤波，通过T-SFIMMA算法进行基于T-S模糊模型的自适应卡尔曼滤波计算，实现系统模型的实时跟踪与自动转换．

Application of Adaptive Kalman Filter in Underwater Navitation System of Submarine

When the course and velocity of submarine is changed, the model of system will be changed. The ocean current information is obtained with Kalman filter based on ocean current database. The non-linear differential equations for course, speed and latitude and longitude for submarine, and north-east heft of ocean current were changed into linear equations, and elicited transmission matrixes. The measure vector and measure matrix was calculated for submarine at a time. Kalman filter of the kind of equations was calculated with T-SFIMMA algorithm based on adaptive Kalman filter algorithm of T-S fuzzy model, realize the tracking and automatic switchover of models.