基于无迹卡尔曼滤波的水下单信标定位

Underwater Single Beacon Positioning Based on Unscented Kalman Filter

在一种基于单距离测量的水下动态定位模型的基础上,应用无迹卡尔曼滤波算法进行水下位置估计。通过水下定位方法仿真,对比使用扩展卡尔曼滤波与无迹卡尔曼滤波的水下动态定位精度。结果显示:从状态估计误差收敛速度角度进行评估,两者相差不大;从稳态水下位置估计误差角度进行评估,无迹卡尔曼滤波拥有更好的定位精度。

On the basis of an underwater dynamic positioning model based on single distance measurement,Unscented Kalman Filter(UKF)algorithm is used in the underwater position estimation.By underwater positioning simulation,the underwater dynamic positioning precision between the Extended Kalman Filter(EKF)algorithm and UKF algorithm is compared.The simulation results show that:there is no significant difference between the UKF algorithm and EKF algorithm in the convergence speed of the state estimation error;the steady state positioning error of the UKF algorithm is slightly smaller than that of the EKF algorithm.