基于海流数据库的Kalman滤波在水下导航中的应用

定位精度对载体至关重要.提高定位精度有2种方式:一是增加高精度导航设备;二是利用数据处理方法.水下载体缺乏高精度的导航设备,但其又需要在水下保持长时间的精确航行.通过建立高精度的海流数据库,然后利用数据融合算法对水下导航信息进行处理来获得高精度的位置信息,该数据融合算法实质是基于海流数据库的Kalman 滤波.通过大量的仿真实验和海试证明,该算法具有很强的实用性和有效性.

Application of Kalman filter with ocean database in underwater navigation

The precision of position is very important for vehicles. It can improve the precision of navigation through two ways. One is through equipping more precise navigation facility,and the other is through optimized algorithm based on the available equipment. Underwater vehicles are short of high precise navigation equipments,so that the problem is more serious. For these vehicles,they usually need to keep long time under sea. To solve this problem,the present paper put forward a new data fusion method to process underwater navigation information,which overcomes this problem by constituting a perfect ocean database and an improved Kalman filter. The new method could greatly improve the precision of underwater navigation. Being compared with classic Kalman filter,a lot of simulation experiments has been done both in laboratory and on board,proving that this method is very useful and effective.