基于平方根容积卡尔曼滤波的水面无人艇导航定位算法  

Square Root Cubature Kalman Filter-based Algorithm for Positioning Surface Ships

作　　者：寇立伟 何诗鸣 项基[1] KOU Liwei;HE Shiming;XIANG Ji(State Key Laboratory of Industrial Control Technology and College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学工业控制技术国家重点实验室和电气工程学院,杭州310027

出　　处：《中国造船》2020年第S01期60-69,共10页Shipbuilding of China

摘　　要：针对不含GPS/北斗等外部传感器的水面无人艇自主定位问题,论文提出一种基于平方根容积卡尔曼滤波(square-root cubature kalman filter,SCKF)的水面无人艇定位算法。该算法利用数值拟合获取的给定电机电压和水面无人艇稳态速度(U-u)的非线性函数关系,将其作为系统的观测方程,融合无人艇的线性状态方程实现导航定位。为提升定位精度,在SCKF的观测方程中引入低通滤波器。最后通过试验验证了算法的有效性。In this paper,we address the autonomous positioning problem for a class of surface ships without auxiliary sensor such as GPS/Beidou for measuring position.A positioning algorithm is proposed based on square root cubature Kalman filter(SCKF)techniques.Nonlinear relation between the applied motor voltage and the ship’s stabilized velocity is acquired with numerical fitting,and is regarded as the measurement equation.The SCKF is used to fuse the information from the measurement equation and the state equation of the ship.A low-pass filter is introduced into the measurement equation to improve the positioning accuracy.Experimental results validate the effectiveness of the proposed algorithm.

关 键 词：导航定位 数值拟合 平方根容积卡尔曼滤波 低通滤波器 

分 类 号：U675.7[交通运输工程—船舶及航道工程]