摘要
捷联系统进入匹配区时导航一定时间后已积累了一定的误差,采用适当的信息融合策略对误差进行估计并补偿可提高后续航行精度;通过建立水下地形匹配辅助导航系统非线性误差模型,以地形匹配和深度压力传感器测量的位置信息和深度作为量测量,基于扩展状态UKF算法设计了误差估计滤波器,仿真研究了其估计效果,并与非扩展状态UKF算法进行了对比研究。仿真结果表明:所提出的方法可行,而且基于扩展状态UKF的误差估计方法相比非扩展状态UKF方法具有更好的估计精度,研究结论为匹配区内估计捷联系统导航误差提供了参考。
Sins has accumulated some error when UUV entered in matching region,so it is necessary to make use of appropriate signal integration strategy to estimate error for ensuring the precision of subsequent sailing.On base of building system nonlinear error model,a state expansion UKF filter is proposed which used the information from underwater terrain matching and depth pressure sensor as measure.Through simulation and comparison with state non-expansion UKF,results indicate that the proposed filter has preferable estimation precision,which can provide reference for sins error estimation in matching region.
出处
《火力与指挥控制》
CSCD
北大核心
2012年第12期75-79,共5页
Fire Control & Command Control
基金
国防"十一五"预研基金资助项目(1010602010502)
