基于53H滤波的船舶综导信息在线平滑方法

An online ship integrated navigation information smoothing method based on the improved 53H filtering

针对船舶综合导航系统接收的导航信息存在野值点的问题,本文提出一种基于改进53H滤波方法的在线平滑方法。该方法利用连续几个信息的中值预测当前时刻的信息,然后与测量值进行比较,如果两者差值超过一定阈值,则用预测值取代测量值,从而实现在线平滑。通过将该方法应用于海试试验数据的处理,结果表明相对于传统的最小二乘滑动滤波与5点3次平滑算法,该方法计算简单、容易实现,而且具有较好的在线平滑效果。

In view of the existence of outliers in navigation information received by ship integrated navigation system,an online smoothing method based on the improved 53 H filtering method is proposed in this paper. The method uses the median of several consecutive information to predict the information at the current moment and then compares it with the measured value. If the difference between the two values exceeds a certain threshold, the predicted value is used to replace the measured value to achieve on-line smoothing. By applying this method to the experimental data of sea trial, the result shows that compared with the traditional least squares sliding filter and 3 times in 5 points smoothing algorithm, this method is simple, easy to implement and has a good online smoothing effect.