基于扩展卡尔曼滤波的潜艇破损进水估计研究

Study on State Estimation of Damaged Submarine Based on Extended Kalman Filter

研究潜艇水下撞击破损后进水位置和水量优化估计问题,当潜艇因碰撞和触雷等破损进水时,准确的获取潜艇水下破损进水时的进水量和进水位置信息,对潜艇指挥员采取及时有效地抗沉手段具有重要的现实指导意义。由于进水后形成较大的系统干扰,造成信息不稳定。为解决上述问题,提出采用滤波器将潜艇水下破损进水后产生的干扰力和干扰力矩定义为潜艇垂直面运动系统的扩展状态变量,用扩展卡尔曼滤波对潜艇破损后的进水量和进水位置进行状态估计识别。仿真结果表明,改进方法能够较为精确地估计出潜艇水下破损时的进水量和进水位置,对潜艇指挥员在潜艇水下破损情况的指挥决策具有重要的参考价值。

Researching the optimization problem of estimating the damage location and flooding quantity when the submarine is damaged underwater by collision has important practical significance. So the submarine commander can take timely and effective anti - sinking measures. The flooding water forms large system interference, causing the in- stability in the information. In order to solve the problem, the disturbing force and moment caused by flooding quanti- ty were taken as the extended state variables of the vertical motion system of the submarine. And the flooding quantity and location of damage were estimated using extended Kalman filter. The simulation results indicate that this method can accurately estimate the flooding quantity and location of damage when the submarine is damaged and flooded. It has important reference value for the submarine commander to make decisions when the submarine is damaged and flooded.