卡尔曼滤波在潜艇垂直面运动控制器设计中的应用

潜艇低噪声操纵存在无效用舵现象。简要介绍了滤波信号的表示形式，在潜艇垂直面线性运动方程的基础上，得出了滤波信号的系统模型，并对其进行了离散化处理；将均方差最小线性递推滤波算法引入到输入信号的控制过程中，通过仿真证明对输入信号进行卡尔曼滤波能够提高输入信号的品质，用于工程应用。

Application in the submarine vertical plane motion control unit design of Kalman filtering

The submarine control exists the phenomena of the invalidation effect of the rudder in low yawp. This paper simply introduces the form of filter signal,and concludes the system module of the filter signal which combined with the submarine movement equation in the vertical linear side,and then,it processes a dispersing management. The input signal control process imports the standard error least linearity fetch by degrees of the filter arithmetic.Through the simulation,it proves the filter arithmetic can imp...