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基于交互式多模型卡尔曼滤波的AUV 超短基线跟踪算法

张晓飞 辛明真 隋海琛 雷 鹏 柳义成 阳凡林

张晓飞, 辛明真, 隋海琛, 雷 鹏, 柳义成, 阳凡林. 基于交互式多模型卡尔曼滤波的AUV 超短基线跟踪算法[J]. 水下无人系统学报, 2022, 30(1): 29-36. doi: 10.11993/j.issn.2096-3920.2022.01.004
引用本文: 张晓飞, 辛明真, 隋海琛, 雷 鹏, 柳义成, 阳凡林. 基于交互式多模型卡尔曼滤波的AUV 超短基线跟踪算法[J]. 水下无人系统学报, 2022, 30(1): 29-36. doi: 10.11993/j.issn.2096-3920.2022.01.004
ZHANG Xiao-fei, XIN Ming-zhen, SUI Hai-chen, LEI Peng, LIU Yi-cheng, YANG Fan-lin. AUV Ultra-short Baseline Tracking Algorithm Based on Interactive Multi-Model Kalman Filter[J]. Journal of Unmanned Undersea Systems, 2022, 30(1): 29-36. doi: 10.11993/j.issn.2096-3920.2022.01.004
Citation: ZHANG Xiao-fei, XIN Ming-zhen, SUI Hai-chen, LEI Peng, LIU Yi-cheng, YANG Fan-lin. AUV Ultra-short Baseline Tracking Algorithm Based on Interactive Multi-Model Kalman Filter[J]. Journal of Unmanned Undersea Systems, 2022, 30(1): 29-36. doi: 10.11993/j.issn.2096-3920.2022.01.004

基于交互式多模型卡尔曼滤波的AUV 超短基线跟踪算法

doi: 10.11993/j.issn.2096-3920.2022.01.004
基金项目:  国家重点研发计划(2018YFC0810400、2016YFB0501700); 国家自然科学基金(41930535); 山东省高等学校青创人才引育计划; 国家留学基金(202008370264); 中央级公益性科研院所基本科研业务费专项(TKS190302); 天津市交通运输科技发展项目(2018-b5).
详细信息
    通讯作者:

    * 通信 阳凡林(1974-), 教授, 博士生导师, 主要从事海洋测绘及全球卫星导航系统应用等研究.

  • 中图分类号: TJ630 P228

AUV Ultra-short Baseline Tracking Algorithm Based on Interactive Multi-Model Kalman Filter

  • 摘要: 在复杂海洋环境下, 利用超短基线对自主水下航行器(AUV)进行跟踪定位可能会受到各类误差的影响, 通常采用以最小均方误差为准则的卡尔曼滤波对动态定位数据进行处理。构建起与目标实际运动相匹配的运动模型, 是保证卡尔曼滤波精度和可靠性的重要基础, 而AUV具有机动性较强的特点, 往往难以先验性地确定单一的运动模型实现对所有运动状态的匹配。针对基于单模型卡尔曼滤波无法全程适应水下目标的所有运动状态的问题, 采用交互式多模型卡尔曼滤波方法处理AUV的超短基线跟踪数据, 运动模型之间通过概率矩阵转移来增强运动状态的适应性, 实验结果表明该算法在多模型集合构建合理的情况下, 其状态适应性优于单模型卡尔曼滤波算法。

     

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出版历程
  • 收稿日期:  2021-01-09
  • 修回日期:  2021-04-25
  • 刊出日期:  2022-02-28

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