摘要
本文介绍一种以自适应卡尔曼滤波器为核心,以电子屏幕导航为应用手段的新型船用综合导航系统(以下简称综导)。卡尔曼滤波仍是当今船舶导航最适用的滤波方法,但普通卡尔曼滤波对被测系统动态模型和噪声验前统计的苛求,给研制高效综导带来困难。根据系统辨识理论,我们采用虚拟噪声补偿技术,对普通卡尔曼滤波器进行改造,并加进一种用来递推估计噪声统计特性的估值器,构造成自适应卡尔曼滤波器,结果令人满意。此外,以下三点也是本系统设计中的新颖之处:(1)将导航星全球定位系统(GPS)信息与劳兰C、NNSS卫导信息一并接入综导,改善综导的精度和冗余度;(2)采用一种新的防发散算法,能有效的控制自适应滤波器可能的发散;(3)驾驶员观察以电子海图为背景的显示器画面,根据船位偏离情况引导船舶航行,使导航变得既可靠又方便。我们称这种导航手段为电子屏幕导航。文章末尾给出了计算机仿真结果。仿真表明,70～80%的系统噪声和量测噪声能被抑制掉。该系统样机正在进行海上试验。
This paper intends to introduce an up-to-date IMNS (Inte-grated Marine Navigation System) with a self-adapting Kalman filter as the core and an electronic screen to show the ship'spresent position. Kalman filter is still the prevailing method of filtering formarine navigation at present, however, the traditional Kalmanfilter brings a lot of difficulties to the research of high-efficientintegrated navigation system because of its harsh terms on thedynamic model of the tested system and pretest statistics. According to the systematic identification theory, we havedesigned a self--adapting Kalman filter with simulated noisecompensating technique for modifying the traditional Kalmanfilter, and an estimator to evaluate the statistical data recur-rently. The result is satisfactory. In addition, the design of this systetn features the followingthree novelties: (I) The precision and sycteni's margin of the system areimproved by incorperating the GPS (Global Position System)information and the combined information of Loran--C and NNSSreceiver into the IMNS. (II) The probable divergence of the self--adapting filter iseffectively controlled by adapting a new method. (III) Navigation becomes more reliable and easier while thenavigator only needs to observe the image on the displayerwith an electronic chart as the background and navigates hisship with respect to the deviation from the intended course.Hence the appearance of a new term of electronic screen navi-gation. At the end of this paper, a computer simulating result isgiven, which shows that about 70 to 89 percent of the system'snoise and measuring noise can be inhibited, Now, a sample ofthis system is on sea-trial.
出处
《中国航海》
CSCD
北大核心
1989年第2期59-66,共8页
Navigation of China
