船电技术
船電技術
선전기술
2012年
4期
24-26
,共3页
组合导航%卡尔曼滤波%仿真
組閤導航%卡爾曼濾波%倣真
조합도항%잡이만려파%방진
integrated navigation%Kalman filtering%simulation
高精度的导航定位是潜艇研究中所面临的主要难题之一。采用GPS辅助的INS/DVL组合导航是目前潜艇的主流导航模式。当前实现GPS/INS/DVL组合导航的技术主要有航迹推算和卡尔曼滤波。本文将卡尔曼滤波技术应用于潜艇组合导航,并把EKF与传统的DR方法进行了仿真比较研究。结果表明,EKF的估计精度较高。
高精度的導航定位是潛艇研究中所麵臨的主要難題之一。採用GPS輔助的INS/DVL組閤導航是目前潛艇的主流導航模式。噹前實現GPS/INS/DVL組閤導航的技術主要有航跡推算和卡爾曼濾波。本文將卡爾曼濾波技術應用于潛艇組閤導航,併把EKF與傳統的DR方法進行瞭倣真比較研究。結果錶明,EKF的估計精度較高。
고정도적도항정위시잠정연구중소면림적주요난제지일。채용GPS보조적INS/DVL조합도항시목전잠정적주류도항모식。당전실현GPS/INS/DVL조합도항적기술주요유항적추산화잡이만려파。본문장잡이만려파기술응용우잠정조합도항,병파EKF여전통적DR방법진행료방진비교연구。결과표명,EKF적고계정도교고。
High-precision navigation and positioning is one of the main challenges of the submarine research.INS /DVL integrated navigation of using GPS-aided is the current mainstream in submarine navigation mode.It mainly includes dead reckoning and Kalman filtering that realize GPS/INS/DVL integrated navigation technology.In this article,the Kalman filtering technique is applied to submarine navigation,and EKF is compared with the traditional DR method on the simulation.The result indicates that the estimate precision of EKF is higher.
