应用科技
應用科技
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YING YONG KE JI
2015年
1期
49-52,56
,共5页
地形辅助导航%unscented卡尔曼滤波%UT变换%鲁棒性
地形輔助導航%unscented卡爾曼濾波%UT變換%魯棒性
지형보조도항%unscented잡이만려파%UT변환%로봉성
terrain aided navigation%unscented Kalman filter%unscented transform%robust
为了解决SITAN海底地形辅助导航算法将非线性过程线性化，容易产生不稳定甚至滤波发散的问题，提出了一种基于Unscented卡尔曼滤波的海底地形辅助导航算法，该算法无需对非线性系统的状态方程和观测方程进行线性化，直接采用UT变换（ unscented transform， UT）近似非线性函数的概率密度分布，并求取变换后的点集的均值和方差。利用海底地形SEAMAPnewHill100为真实海底地形数据对算法进行了测试。实验结果表明，该算法较传统算法有较强的精确性和鲁棒性。
為瞭解決SITAN海底地形輔助導航算法將非線性過程線性化，容易產生不穩定甚至濾波髮散的問題，提齣瞭一種基于Unscented卡爾曼濾波的海底地形輔助導航算法，該算法無需對非線性繫統的狀態方程和觀測方程進行線性化，直接採用UT變換（ unscented transform， UT）近似非線性函數的概率密度分佈，併求取變換後的點集的均值和方差。利用海底地形SEAMAPnewHill100為真實海底地形數據對算法進行瞭測試。實驗結果錶明，該算法較傳統算法有較彊的精確性和魯棒性。
위료해결SITAN해저지형보조도항산법장비선성과정선성화，용역산생불은정심지려파발산적문제，제출료일충기우Unscented잡이만려파적해저지형보조도항산법，해산법무수대비선성계통적상태방정화관측방정진행선성화，직접채용UT변환（ unscented transform， UT）근사비선성함수적개솔밀도분포，병구취변환후적점집적균치화방차。이용해저지형SEAMAPnewHill100위진실해저지형수거대산법진행료측시。실험결과표명，해산법교전통산법유교강적정학성화로봉성。
In order to solve the problem that the linearization of the nonlinear process of the SITAN seabed terrain aided navigation algorithm is prone to instability and even the filtering divergence, a seabed terrain aided navigation algorithm based on unscented Kalman filter is proposed. This algorithm does not need nonlinear state and observa?tion equations to be linearized, directly using the unscented transform ( UT) to approximate probability density dis?tribution of nonlinear functions, and obtains the mean and variance of the transformed point set. It uses the seabed terrain SEAMAPnewHill100 as real terrain data to test this algorithm. The experimental results show that the algo?rithm is more precise and robust than the traditional algorithms.
