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| 平方根求容积卡尔曼滤波的组合导航算法 | |
| 引用本文： | 管冰蕾,汤显峰,葛泉波. 平方根求容积卡尔曼滤波的组合导航算法[J]. 中国航海, 2011, 34(4) |
| 作者姓名： | 管冰蕾 汤显峰 葛泉波 |
| 作者单位： | 1. 宁波工程学院,浙江宁波,315016 2. 浙江大学,浙江杭州,310027 3. 杭州电子科技大学,浙江杭州,310018 |
| 基金项目： | 国家自然科学基金，浙江省科技厅科技计划项目，宁波市自然科学基金 |
| 摘 要： | 以全球定位系统与航位推算(GPS/DR)相结合的组合导航系统为研究对象.为解决在GPS/DR组合导航研究中传统扩展卡尔曼滤波(EKF)算法的滤波精度和稳定性差问题,引入了平方根求容积卡尔曼滤波算法.作为一类sigma点滤波方法,SCKF有效避免了EKF计算雅可比矩阵,提高了估计精度.仿真结果表明,对于船用GPS/DR组合导航问题,该算法能获得更好的性能指标,更符合实际船用组合导航要求. |
| 关 键 词： | 船舶、舰船工程 海事智能交通 船舶组合导航 非线性滤波 平方根求容积卡尔曼滤波 |
Ship Integrated Navigation Algorithm Based on Square-Root Cubature Kalman Filter |
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| Guan Binglei,Tang Xianfeng,Ge Quanbo. Ship Integrated Navigation Algorithm Based on Square-Root Cubature Kalman Filter[J]. Navigation of China, 2011, 34(4) | |
| Authors: | Guan Binglei Tang Xianfeng Ge Quanbo |
| Affiliation: | Guan Binglei1,Tang Xianfeng2,Ge Quanbo3(1.Ningbo University of Technology,Ningbo 315016,China,2.Zhejiang University,Hangzhou 310027,3.Hangzhou Dianzi University,Hangzhou 310018,China) |
| Abstract: | An integrated navigation system composed of GPS/DR(Global Positioning System/Dead Reckoning) is studied.To solve the problems of poor filtering precision and stability by conventional EKF(Extended Kalman Filter) in studying GPS/DR integrated navigation system,SCKF(Square-root Cubature Kalman Filter) is introduced.As a kind of sigma points filtering methods,it effectively avoids computing Jacobian matrix and improves estimate precision,comparing with the EKF.Simulation results indicate that better performanc... |
| Keywords: | ship naval engineering maritime intelligent traffic ship integrated navigation nonlinear filtering SCKF |
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