基于卡尔曼滤波的天文定位算法  

Celestial fixing algorithm based on Kalman filter

作　　者：赵海波[1] 郭立红[1] 陈长喜[1] 邹荣士[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所

出　　处：《光电工程》2006年第8期85-89,共5页Opto-Electronic Engineering

摘　　要：针对如何提高舰船的导航精度的问题,提出了一种Kalman滤波天文定位算法。该算法根据天文三角形理论,在确定的时间内,利用恒星的赤经、赤纬以及利用光电经纬仪(或其他测量设备)输出的高度角、方位角等信息实现天文定位,并建立了舰船动力学模型。采用稳健估计对Kalman滤波模型进行处理,解决了滤波模型中非零均值系统白噪声的处理问题。采用该Kalman滤波对恒星的高度角数据进行滤波,实验结果表明,噪声为1′时定位误差由0.041253°降低为0.010394°,该算法提高了测量精度,抑制了测量噪声,有效增强了天文定位的可信度。Concerning how to improve the precision of ships＇ navigation, a celestial fixing algorithm based on Kalman filter is put forward. It can be carried out by star＇s right ascension, declination, elevation angle and azimuth in the fixed time basing on the celestial spherical triangle theory. The dynamic model for the ship system is established also. The Kalman filter model is robustly estimated to solve the problem that the measurement noise in the model is not zero-mean White one. With the Kalman filter, the star＇s elevation angle is processed. Results show that fixing error is decreased from 0.041253° to 0.010394° on the condition that noise is 1′, and the proposed algorithm can effectively improve the measurement accuracy and restrain the measurement noise, which verifies the reliability of celestial fixing.

关 键 词：天文定位 卡尔曼滤波 稳健估计 天文三角形 

分 类 号：U666.11[交通运输工程—船舶及航道工程]