一种信标水声定位的改进扩展卡尔曼滤波算法  

An improved EKF positioning algorithm for underwater acoustic beacon

作　　者：刘建波[1] 韩树平[1] 徐景峰[1] 杨刚[1] LIU Jianbo;HAN Shuping;XU Jingfeng;YANG Gang(Navy Submarine Academy,Qingdao 266000,Shandong,China)

机构地区：[1]海军潜艇学院,山东青岛266000

出　　处：《声学技术》2020年第6期752-757,共6页Technical Acoustics

摘　　要：水声测距误差通常偏离高斯分布,纯距离扩展卡尔曼滤波(Extended Kalman Filter,EKF)定位跟踪算法误差较大。在将测距噪声分为高斯分量和非高斯缓变分量的基础上,提出了一种改进的扩展卡尔曼滤波EKF算法(Improved Extended Kalman Filter,IEKF)和初值选取方法。利用仿真实验和湖试对IEKF算法进行了验证,结果表明IEKF算法能够对测距偏差进行跟踪补偿,定位精度明显优于常规EKF算法。Underwater acoustic ranging error usually deviated from Gaussian distribution,which brings about low-precision for the extended Kalman filter(EKF)tracking in range-only positioning and navigation.Assuming that the ranging deviation comprises Gaussian and non-Gaussian deviation,an improved EKF(IEKF)algorithm and initial position determining method are put forward.Simulation and lake trial are conducted,and the results show that IEKF could achieve better precision compared to conventional EKF.

关 键 词：水声定位 测距误差 改进扩展卡尔曼滤波 初值选取 

分 类 号：TB533[理学—物理]