文档介绍：3 舰船组合导航系统的顺序滤波融合算法
汤天浩,闻春红,王天真,葛泉波
(上海海事大学,上海 200135)
摘要:舰船组合导航系统Kalman滤波的集中式融合与分布式融合存在滤波精度与计算性能、容错性不可兼顾的缺点。且船舶运动受海洋环境等的影响,其噪声基于白噪声建模过于理想化。针对上述问题,提出了舰船组合导航系统的顺序滤波融合算法。该算法的基本思想是采用一阶Markov过程建立舰船运动的噪声模型,并用状态扩维方法将状态方程转化为符合标准Kalman滤波的基本方程,然后每一时刻检查各导航子系统的有效性,对有效的导航子系统引入顺序滤波融合思想实现导航定位。与传统的顺序滤波融合算法相比,新算法在保留与集中式融合同样高的滤波精度、计算性能好的优点的基础上,新增了实用性强、容错性好的优点。理论分析和舰船SINS/GPS组合导航仿真结果表明了新算法的有效性和优越性。
关键词: 水路运输;组合导航;集中式融合;分布式融合;容错性;顺序滤波融合;状态扩维
中图分类号: 文献标识码:A
Sequential Filtering Fusion Algorithm for
Integrated Navigation System
TANG Tian-hao, WEN Chun-hong, WANG Tian-zhen, GE Quan-bo
(Shanghai Maritime University, Shanghai, 200135)
Abstract: Centralized fusion and distributed fusion for vessel integrated navigation have either higher filtering accuracy or putation performance and fault-tolerant, but not both. And impacted by marine environment, it is too ideal to modeling vessel process noise with white noise. To against above problems, the paper introduces sequential filtering fusion algorithm for integrated navigation system. The new algorithm models vessel process noise with one order Markov process, and changes state equations into basic equations of standard Kalman filter, then checks the efficiency of each sub navigation system and fusions all efficient data step by step to positioning vessel. Compared with traditional sequential filtering fusion algorithms, the new algorithm rese