抗差卡尔曼滤波及其在超短基线水下定位中的应用
Robust Kalman Filter and Its Application in Ultrashort Baseline Underwater Positioning
投稿时间:2020-04-20  修订日期:2020-08-21
DOI:
中文关键词:  海洋测绘  超短基线  抗差卡尔曼滤波  水下定位  等价权函数
英文关键词:hydrographic surveying and charting  ultra-short baseline  robust Kalman filtering  underwater positioning  equivalent weight function
基金项目:国家重点研发计划资助项目(2018YFF0212200,2016YFB0501700);中央级公益性科研院所基本科研业务费专项(TKS190302);天津市交通运输科技发展项目(港航专业)(2018-b5)
作者单位E-mail
罗才智 山东科技大学 1245467773@qq.com 
杨鲲 交通运输部天津水运工程科学研究所  
辛明真 山东科技大学  
卫进进 山东科技大学  
张凯 山东科技大学  
阳凡林 山东科技大学  
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中文摘要:
      基于测距定向原理的超短基线定位系统具有集成度高、操作简便的优势,但在缺少多余观测量的动态定位环境下,受外围传感器的可靠性和水声信号的传播特性的影响,超短基线定位结果中经常出现超出定位精度要求的粗差。为抑制粗差对定位精度的影响,提出采用抗差卡尔曼滤波处理超短基线水下定位数据中的粗差,重点对比分析了目前国际上经典的Huber、IGG1、IGG3等价权函数的抗差滤波效果。利用Sonardyne Ranger 2超短基线采集的数据进行实验分析,实验结果表明经典卡尔曼滤波受粗差影响严重,采用IGG系列权函数的抗差卡尔曼滤波方法可以有效降低粗差影响。
英文摘要:
      The ultra short baseline positioning system based on the principle of ranging and orientation has the advantages of high integration and easy operation. However, in the dynamic positioning environment without redundant observation, due to the reliability of peripheral sensors and the propagation characteristics of underwater acoustic signals, the gross errors that exceed the positioning accuracy requirements often appear in the ultra short baseline positioning results. In order to suppress the influence of gross error on positioning accuracy, the robust Kalman filter is proposed to deal with the gross error in the ultra short baseline underwater positioning data, focusing on the comparative analysis of the anti error filtering effect of the current international classic Huber, IGG1, IGG3 equivalent weight functions. The data collected by the Sonardyne Ranger 2 ultra-short baseline is used for experimental analysis. The experimental results show that the classical Kalman filter is seriously affected by the gross error. The robust Kalman filter method using IGG series weight functions can effectively reduce the influence of the gross error.
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