CAJ | 학술논문

针对用于快速传递对准的卡尔曼滤波器阶数高,计算量大,滤波更新率低,鲁棒性差及对准精度不高等问题,提出采用联合强跟踪Kalman滤波器进行快速传递对准.文中设计了联合强跟踪Kalman滤波器的结构和算法,同时利用改进的Elman网络进行信息分配系数的自适应调节,以实现融合信息在各子系统中的自适应分配.仿真结果表明,该滤波器不仅提高了解算速度,而且提高了系统鲁棒性和对准精度.
침대용우쾌속전체대준적잡이만려파기계수고,계산량대,려파경신솔저,로봉성차급대준정도불고등문제,제출채용연합강근종Kalman려파기진행쾌속전체대준.문중설계료연합강근종Kalman려파기적결구화산법,동시이용개진적Elman망락진행신식분배계수적자괄응조절,이실현융합신식재각자계통중적자괄응분배.방진결과표명,해려파기불부제고료해산속도,이차제고료계통로봉성화대준정도.
The centralized Kalman filter for the rapid transfer alignment has several disadvantages, such as high-order, huge calculation burden, low filtering updating rate, poor robustness. In this paper, a federated strong tracking Kalman filter is proposed to realize the rapid transfer alignment and solve these problems. The structure and algorithm of federated strong tracking Kalman filter are designed. And an improved Elman network is used to adaptively adjust the information sharing coefficients. Simulation results show that this filter not only improves the calculation speed, but also improves the system robustness and alignment accuracy.