基于改进强跟踪滤波器的微小型水下机器人船位推算  

Dead reckoning for the mini underwater vehicle based on improved strong tracking Kalman filter

作　　者：梁霄[1] 张均东[1] 吴利红[1] 

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026

出　　处：《大连海事大学学报》2011年第2期64-68,共5页Journal of Dalian Maritime University

基　　金：国家自然科学基金资助项目(50579007);中央高校基本科研业务费专项资金资助项目(2009QN020)

摘　　要：针对微小型水下机器人低速航行时的水下导航问题,提出一种基于改进强跟踪滤波器的船位推算方法.引入Sage-Husa量测噪声估计器以及自适应调节因子,通过改善渐消因子的大小,使得微小型水下机器人在机动性能较低情况下仍能加强滤波器的跟踪能力,提高滤波精度.以"SY-1"载体为研究对象进行的仿真试验验证了该方法的可行性和有效性.Aiming at underwater navigation problem for the mini underwater vehicle with low speed,a method of dead reckoning based on improved strong tracking Kalman filter was proposed.Sage-Husa measuring noise estimator and adaptive regulatory factor were introduced,and the tracking ability of filter was strengthened even for the mini underwater vehicle with low speed by changing the value of the evanescent factor,so that the precision was improved.Simulation based on ＂SY-1＂ underwater vehicle verifies the feasibility and effectivity.

关 键 词：微小型水下机器人 船位推算 强跟踪滤波器 渐消因子 量测噪声 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]