干扰环境下船舶的定位算法研究  

Research on Ship Positioning Algorithm in Interference Environment

作　　者：马社祥 李慧宁 MA She-xiang;LI Hui-ning(College of Electrical and Electronic Engineering,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学电气电子工程学院,天津300384

出　　处：《计算机仿真》2022年第6期351-354,364,共5页Computer Simulation

摘　　要：在干扰环境下,船舶仅能接收到单颗卫星的定位数据,无法进行正常定位。针对单星定位精度低的问题,提出了基于改进型卡尔曼滤波算法。以卫星到接收天线的伪距作为观测值,解算出船舶的位置信息。从卫星星历中读取卫星的坐标、伪距信息等,用伪距定位的数学模型,分别用高斯牛顿迭代法和卡尔曼滤波法进行船舶的位置解算,使用列文伯格-马夸尔特算法优化卡尔曼滤波算法的预测协方差矩阵。仿真结果表明,提出的解算方法比卡尔曼滤波算法在三维坐标中的精确度分别提高了60.4%、71.7%、79.1%。In an interference environment, ships can only receive positioning data from a single satellite, and cannot perform normal positioning. Aiming at the problem of low single-satellite positioning accuracy, an autonomous ship positioning technology based on an improved Kalman filter algorithm is proposed. The pseudo-range from the satellite to the receiving antenna is used as the observation value to calculate the ship’s position information. The mathematical model of pseudo-range positioning is used to solve the position of the ship by the Gauss-Newton iterative method and Kalman filter method respectively. The satellite’s coordinates and pseudo-range information are read from the satellite ephemeris. The mathematical model of pseudo-range positioning is used to calculate the ship’s position by the Gauss-Newton iteration method and Kalman filter method respectively. The prediction covariance matrix of the Kalman filter algorithm is optimized by the Levenberg-Marquardt algorithm. The simulation results show that the accuracy of the proposed solution in the three-dimensional coordinates is improved by 60.4%, 71.7%, and 79.1%, respectively, compared with the Kalman filter algorithm.

关 键 词：伪距定位 高斯牛顿迭代法 卡尔曼滤波法 列文伯格-马夸尔特算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]