抗差卡尔曼滤波及其在超短基线水下定位中的应用  

Robust Kalman Filter and Its Application in Ultrashort Baseline Underwater Positioning

作　　者：罗才智 杨鲲[2] 辛明真 卫进进 张凯[1] 阳凡林[1] LUO Cai-zhi;YANG Kun;XIN Ming-zhen;WEI Jin-jin;ZHANG Kai;YANG Fan-lin(College of Surveying and Mapping Science and Engineering,Shandong University of Science and Technology,Qingdao 266590,China;Tianjin Research Institute for Water Transport Engineering,Ministry of Transport,Tianjin 300456,China)

机构地区：[1]山东科技大学测绘科学与工程学院,山东青岛266590 [2]交通运输部天津水运工程科学研究所,天津300456

出　　处：《海洋技术学报》2020年第5期46-52,共7页Journal of Ocean Technology

基　　金：国家重点研发计划资助项目(2018 YFC0810400,2018YFF0212200,2016YFB0501700);中央级公益性科研院所基本科研业务费专项资助项目(TKS190302);天津市交通运输科技发展项目(港航专业)(2018-b5)。

摘　　要：基于测距定向原理的超短基线定位系统具有集成度高、操作简便的优势,但在缺少多余观测量的动态定位环境下,受外围传感器的可靠性和水声信号的传播特性的影响,超短基线定位结果中经常出现超出定位精度要求的粗差。为抑制粗差对定位精度的影响,本文提出了采用抗差卡尔曼滤波处理超短基线水下定位数据中的粗差,重点对比分析了目前国际上经典的Huber、IGG1、IGG3等价权函数的抗差滤波效果。利用Sonardyne Ranger 2超短基线采集的数据进行实验分析,实验结果表明,经典卡尔曼滤波受粗差影响严重,采用IGG系列权函数的抗差卡尔曼滤波方法可以有效降低粗差影响。The ultra-short baseline positioning system based on the principle of ranging and orientation has the advantages of high integration and easy operation. However, in dynamic positioning environment without redundant observation, the gross errors that exceed the positioning accuracy requirements often appear in the ultrashort baseline positioning results due to the reliability of peripheral sensors and the propagation characteristics of underwater acoustic signals. In order to suppress the influence of gross error on positioning accuracy, the robust Kalman filter is proposed to deal with the gross error in the ultra-short baseline underwater positioning data, focusing on the comparative analysis of the anti-error filtering effect of the current international classic Huber, IGG1, IGG3 equivalent weight functions. The data collected by the Sonardyne Ranger 2 ultra-short baseline is used for experimental analysis. The results show that the classical Kalman filter is seriously affected by the gross error. The robust Kalman filter method using IGG series weight functions can effectively reduce the influence of the gross error.

关 键 词：海洋测绘 超短基线 抗差卡尔曼滤波 水下定位 等价权函数 

分 类 号：P228[天文地球—大地测量学与测量工程]