现代导航
現代導航
현대도항
MODERN NAVIGATION
2014年
2期
113-116
,共4页
相对导航%扩展卡尔曼滤波%自适应滤波
相對導航%擴展卡爾曼濾波%自適應濾波
상대도항%확전잡이만려파%자괄응려파
Relative Navigation%Extended Kalman Filter%Adaptive Filter
针对测距测角相对导航中测量噪声不可精确获知往往导致相对定位精度下降的问题，本文研究了基于自适应扩展卡尔曼滤波（EKF）的相对导航算法。利用泰勒级数展开对测量矩阵进行线性化处理，并利用自适应时变噪声估计方法对测量噪声方差阵进行动态估计，状态噪声方差阵通过惯导特性的先验值获得。仿真结果表明，基于自适应EKF的相对导航算法可获得高精度且连续平滑的相对定位信息，尤其在测量噪声发生变化时更是表现出良好的导航参数估计性能。
針對測距測角相對導航中測量譟聲不可精確穫知往往導緻相對定位精度下降的問題，本文研究瞭基于自適應擴展卡爾曼濾波（EKF）的相對導航算法。利用泰勒級數展開對測量矩陣進行線性化處理，併利用自適應時變譟聲估計方法對測量譟聲方差陣進行動態估計，狀態譟聲方差陣通過慣導特性的先驗值穫得。倣真結果錶明，基于自適應EKF的相對導航算法可穫得高精度且連續平滑的相對定位信息，尤其在測量譟聲髮生變化時更是錶現齣良好的導航參數估計性能。
침대측거측각상대도항중측량조성불가정학획지왕왕도치상대정위정도하강적문제，본문연구료기우자괄응확전잡이만려파（EKF）적상대도항산법。이용태륵급수전개대측량구진진행선성화처리，병이용자괄응시변조성고계방법대측량조성방차진진행동태고계，상태조성방차진통과관도특성적선험치획득。방진결과표명，기우자괄응EKF적상대도항산법가획득고정도차련속평활적상대정위신식，우기재측량조성발생변화시경시표현출량호적도항삼수고계성능。
A relative navigation algorithm based on the adaptive extended Kalman filter is studied in this paper to solve problems of the decline of relative position precision, which is induced by the cause that the measurement noise cannot accurately know. Firstly, the Taylor series expansion is applied to transform the measurement matrix to the linearization model. Secondly, the covariance matrix of the measurement noise is estimated dynamically by using the estimation method of adaptive time-variant noise, and the covariance matrix of the state noise is got via the prior knowledge of inertial navigation. Finally, the simulation results indicate that the research method in this paper can provide continuous and smooth relative position information with highly precision, and the method still show the better navigation parameter estimation performance in the case of the varying measurement noise happens especially.
