数据融合的精确极大似然配准算法在六自由度DPS中的应用

文章阐述了潜器六自由度动力定位的基本原理和多传感器数据融合的基本概念，着重研究了配准的极大似然算法ＥＭＬ，该算法通过两步递归最优化方法来实现，并采用改进的高斯－牛顿法来确保算法的快速收敛性。最后结合ＢＳＡＶ－１潜器模型水池实验的实时数据给出了仿真算例，证实了ＥＭＬ算法在实际环境中的有效性。

Application of Exact Maximum Likelihood Registration Algorithm with Data Fusion to a Six-degree Dynamic positioning System

The basic principle of a dynamic positioning system.The multi sensors data fusion algorithm of exact maximum likelihood(EML) registration are described.The EML registration is achieved by two step recursive optimization.The quick convergence is assured through the improved Gauss Newton algorithm.The investigation is based on the real time data of an underwater vehicle model in a test basin.The simulation approves the validity of EML registration in real environment.