粒子滤波在船体大角度变形测量中的应用  

Application of Particle Filter on the Measurement of Large Angle Deformation in Ships

作　　者：朱昀炤[1] 汪顺亭[1] 缪玲娟[1] 谢志宏[2] 王博[1] 

机构地区：[1]北京理工大学信息科学技术学院自动控制系,北京100081 [2]装甲兵工程学院控制工程系,北京100072

出　　处：《北京理工大学学报》2008年第4期343-346,351,共5页Transactions of Beijing Institute of Technology

基　　金：国家部委预研项目(10106060602)

摘　　要：研究了粒子滤波在测量船体变形时的应用情况.推导了船体大角度变形时的非线性模型,具体进行了粒子滤波算法的设计,以及小角度和大角度变形情况下粒子滤波的仿真.仿真结果表明,粒子滤波无论在小角度变形情况下还是在大角度变形情况下都得到了满意的测量精度,证明了采用粒子滤波测量船体变形的有效性,讨论了粒子数目对滤波效果的影响以及粒子滤波算法的实时性,指出了粒子滤波算法存在的不足.The application of partial filter in measuring ship deformation is studied. Nonlinear model of large angle deformation is deduced and the partial filtering algorithm is designed. Partial filtering simulations were made in small angle deformation and large angle deformation. Simulation results showed that the measurement precision based on partial filter is satisfaction in both situations and the partial filter is efficient in measuring ship deformation. The partial numbers which influence the filtering effect and the real-time question of partial filtering algorithm are discussed. The shortcoming of partial filter is also discussed.

关 键 词：粒子滤波 船体变形 惯性测量 非线性滤波 

分 类 号：U666[交通运输工程—船舶及航道工程]