摘要
针对双功能深海潜器在滑翔模式和巡航模式切换时滤波震荡甚至发散的问题,提出了一种改进的基于INS/GPS/电子罗盘的自适应联邦滤波算法。为了得到更优的全局状态估计,设计了基于P范数的信息反馈方法,该方法能够根据各子滤波器的估计精度实时调整反馈系数。最后,将该自适应联邦滤波算法应用到了深海潜器模式切换场景中,并与传统的卡尔曼滤波方法进行了仿真对比,结果表明自适应联邦滤波的位置精度提升了18%,收敛速度提升了25%,实际工程意义重大。
An improved adaptive federal filtering algorithm based on INS/GPS/electronic compass is proposed to solve the problem of filtering oscillation and divergence of dual-function deep-sea vehicle when the gliding mode and cruise mode are switched.In order to obtain better global state estimation,an information feedback method based on P norm is designed,which can adjust the feedback coefficients in real time according to the estimation accuracy of each sub-filter.Finally,the adaptive federal filtering algorithm is applied to the deep-sea vehicle mode switching scenario,and the simulation results are compared with the traditional Kalman filter method.The results show that the position accuracy of the adaptive federal filter is improved by 18%and the convergence speed is increased by 25%.The practical engineering significance is significant.
作者
邵鑫
陈熙源
SHAO Xin;CHEN Xiyuan(School of Instrument Science and Engineering,Southeast University,Nanjing 210000,China)
出处
《传感技术学报》
CAS
CSCD
北大核心
2019年第9期1283-1288,共6页
Chinese Journal of Sensors and Actuators
基金
国家重点研发计划项目(2017YFC0306303)
关键词
双功能深海潜器
模式切换
自适应联邦滤波
P范数
dual-function deep-sea vehicle
mode switching
adaptive federal filtering
P norm