舰船相对组合导航最优定位算法

Optimal Positioning Algorithm for Integrated Relative Navigation of Ships

针对船舶相对组合导航过程中常见的通信延迟问题,在最小均方误差意义下发展出一种最优融合滤波方法。首先将各相对测量信息转化为目标船只的伪测量信息,然后按照序贯融合的思想来设计融合滤波算法。运用该算法,不仅能够保证滤波过程的实时性,而且可以保证导航精度的最优性。通过仿真实验,验证了方法的有效性和可行性。

An optimal fusion filtering method for relative ship navigation is proposed to deal with the communication delay. The idea is to derive the synchronized pseudo measurements of the target ship from the actual measurement data and to process the derived data instead of actual measurements with an optimal real-time sequential fusion filtering algorithm in the sense of linear minimum mean error. The proposed method has the advantages of real time and optimality. The simulation is conducted to verify the effectiveness and feasibility of the method.