CAJ | 학술논문

为了改善船舶动力定位多传感器的融合性能，提出了一种多传感器闭环分级融合算法。该算法包括基于卡尔曼滤波的局部和全局两级估计，以全局融合信息的反馈作为局部估计的初始值进行时间更新，定义两级估计的映射关系并引入调节系数，自适应地调节全局融合增益。全局估计融入各局部估计过程中，两级估计组成了一个相互补偿的闭环系统。利用船舶半实物仿真系统的试验，仿真验证了该算法的有效性。
위료개선선박동력정위다전감기적융합성능，제출료일충다전감기폐배분급융합산법。해산법포괄기우잡이만려파적국부화전국량급고계，이전국융합신식적반궤작위국부고계적초시치진행시간경신，정의량급고계적영사관계병인입조절계수，자괄응지조절전국융합증익。전국고계융입각국부고계과정중，량급고계조성료일개상호보상적폐배계통。이용선박반실물방진계통적시험，방진험증료해산법적유효성。
To improve the multi-sensor fusion performance of vessel dynamic positioning ,a closed-loop hierarchical fusion algorithm is proposed .The presented fusion algorithm has local and global estimators .The Kalman filter is used in both the local and global estimates .The global fusion is fed back to the local filters .Mapping relationships between the local and global estimates are defined by environment conditions derived from each local estimator .Adjusting factors based on the local and global estimates co-variances are introduced .The gain of the global fusion is adjusted optimally according to the mapping matrices and adjusting factors . The global estimate is included in local estimates .The proposed algorithm combines the local and global estimates into one closed-loop mutual compensation system .By the vessel semi-physical simulation system the validities of the proposed algorithm are veri-fied .