DVL数据失效时辅助SINS的神经网络改进算法  

Improved Neural Network Algorithm for Assisting SINS When DVL Data Fails

作　　者：欧阳明达[1] 朱文会 OUYANG Mingda;ZHU Wenhui(Xi’an Research Institute of Surveying and Mapping,Xi’an 710054,China)

机构地区：[1]西安测绘研究所,陕西西安710054

出　　处：《数字海洋与水下攻防》2024年第4期397-404,共8页Digital Ocean & Underwater Warfare

基　　金：国家自然科学基金基础科学中心项目“地球时空基准”(42388102)。

摘　　要：SINS/DVL水下组合导航时,受外界因素影响,DVL信号不稳定和丢失情况时有发生,容易造成定位结果不连续或精度减弱。将DVL正常时段采集数据作为训练样本,采用径向基函数神经网络算法(RBF)对DVL丢失时段信号进行填补。为降低系统噪声影响,选择采用扩展卡尔曼滤波(EKF)和自适应渐消Sage-Husa扩展卡尔曼滤波(SHEKF)2种模式进行组合导航计算,得到不同计算结果。分析表明,RBF算法能够用于处理DVL信号丢失情况,相同条件下,SHEKF滤波模式能够得到更优计算结果,E方向上位置误差相比EKF滤波减少约50%。In underwater SINS/DVL integrated navigation,the instability and loss of DVL signal often occur due to external factors,which may easily lead to discontinuous positioning or weakened accuracy.In this paper,the data collected during the normal period of DVL are used as training samples,and the radial basis function neural network algorithm(RBF)is used to fill the signal during the period of DVL loss.To reduce the influence of system noise,two modes of extended Kalman filter(EKF)and adaptive fading Sage-Husa extended Kalman filter(SHEKF)are selected for integrated navigation calculation,and different calculation results are obtained.The analysis shows that RBF algorithm can be used to deal with the loss of DVL signal.Under the same conditions,SHEKF filter mode can get better calculation results,and the position error in the direction of E is reduced by about 50%compared with EKF filter.

关 键 词：水下组合导航 扩展卡尔曼滤波 径向基函数神经网络算法 多普勒计程仪 

分 类 号：U666.7[交通运输工程—船舶及航道工程]