电子罗盘应用于无人船测向的IIR滤波性能分析  

Analysis on the Performance of IIR Filter for Digital Compass Applied in USV's Course Measurement

作　　者：金久才[1,2] 张杰[1,2] 邵峰[1,3] 

机构地区：[1]国家海洋局第一海洋研究所海洋物理与遥感研究室,山东青岛266061 [2]国家海洋局中国航天科技集团公司海洋遥测工程技术研究中心,山东青岛266061 [3]青岛大学物理学院,山东青岛266071

出　　处：《海洋技术学报》2015年第5期48-52,共5页Journal of Ocean Technology

基　　金：国家自然科学基金资助项目(61401111);海洋公益性行业科研专项资助项目(201505005-2);海洋一所基本科研业务费专项资金资助项目(2015P08)

摘　　要：测向是无人船自动控制所需的一项重要数据,然而其通常会受到自身精度、航向突变和环境等影响,目前准确的动态测向还存在一定困难。针对所研发无人船的转向特性,在实验室内通过HMR3000电子罗盘转动实验模拟了无人船常规和极端两种转动情况,选择不同的滤波参数分析了IIR滤波特性,最后获得适用于本无人船的测向滤波参数。在无人船的湖试中,基于该电子罗盘的航向自动跟踪控制效果良好。实验结果验证了该滤波参数选择的正确性,可用于无人船的最佳滤波。Course measurement is a basic data for autonomous control of USVs, which is usually affected by its precision, course jump and environment disturbance, so the dynamic course measurement still has some difficulties. According to the USV＇s properties of turning, the rotation experiments for HMR3000 digital compass are conducted to simulate USV＇s general and extreme motions. The characteristics for IIR filter are analyzed by selecting different filter parameters, and the USV＇s filter parameter is acquired for course measurement. In the USV＇s lake tests, the autonomous course following and control has good effects based on the compass＇ s filter parameter. The correctness of filter parameter selection is validated, and it is concluded that the IIR filter parameter is fit for the USV.

关 键 词：无人船 HMR3000电子罗盘 IIR滤波 

分 类 号：P715.4[天文地球—海洋科学]