| 一种信标水声定位的改进扩展卡尔曼滤波算法 |
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| 引用本文： | 刘建波,韩树平,徐景峰,杨刚.一种信标水声定位的改进扩展卡尔曼滤波算法[J].声学技术,2020,39(6):752-757. |
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| 作者姓名： | 刘建波 韩树平 徐景峰 杨刚 |
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| 作者单位： | 海军潜艇学院, 山东青岛 266000 |
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| 摘 要： | 水声测距误差通常偏离高斯分布,纯距离扩展卡尔曼滤波(Extended Kalman Filter,EKF)定位跟踪算法误差较大。在将测距噪声分为高斯分量和非高斯缓变分量的基础上,提出了一种改进的扩展卡尔曼滤波EKF算法(Improved Extended Kalman Filter,IEKF)和初值选取方法。利用仿真实验和湖试对IEKF算法进行了验证,结果表明IEKF算法能够对测距偏差进行跟踪补偿,定位精度明显优于常规EKF算法。
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| 关 键 词： | 水声定位 测距误差 改进扩展卡尔曼滤波 初值选取 |
| 收稿时间： | 2020/9/30 0:00:00 |
| 修稿时间： | 2020/10/23 0:00:00 |
An improved EKF positioning algorithm for underwater acoustic beacon |
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| LIU Jianbo,HAN Shuping,XU Jingfeng,YANG Gang.An improved EKF positioning algorithm for underwater acoustic beacon[J].Technical Acoustics,2020,39(6):752-757. |
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| Authors: | LIU Jianbo HAN Shuping XU Jingfeng YANG Gang |
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| Affiliation: | Navy Submarine Academy, Qingdao 266000, Shandong, China |
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| Abstract: | Underwater acoustic ranging error usually deviated from Gaussian distribution, which brings about low-precision for the extended Kalman filter (EKF) tracking in range-only positioning and navigation. Assuming that the ranging deviation comprises Gaussian and non-Gaussian deviation, an improved EKF (IEKF) algorithm and initial position determining method are put forward. Simulation and lake trial are conducted, and the results show that IEKF could achieve better precision compared to conventional EKF. |
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| Keywords: | underwater acoustic positioning ranging deviation improved extended Kalman filter (IEKF) initial position determining |
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