文章摘要
邹洪,向大威,景永刚.多普勒计程仪的数据平滑方法[J].声学技术,2008,(4):507~510
多普勒计程仪的数据平滑方法
Data smoothing methods for DVL
投稿时间:2008-01-30  修订日期:2008-03-21
DOI:
中文关键词: 多普勒计程仪(DVL)  组合导航系统  局外数据  动窗平均  动窗加权平均  动窗中值滤波  动窗稳键平均
英文关键词: Doppler velocity log(DVL)  integrated navigation system  outlier  moving window averaging  moving window weighted averaging  moving window median filtering  moving window robust averaging
基金项目:
作者单位E-mail
邹洪 中国科学院声学研究所东海研究站, 上海200032  
向大威 中国科学院声学研究所东海研究站, 上海200032  
景永刚 中国科学院声学研究所东海研究站, 上海200032 ygjing@sina.com 
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中文摘要:
      多普勒计程仪输出数据中有局外数据,可能会导致组合导航系统中的卡尔曼滤波器发散。文章介绍了4种数据平滑方法:动窗平均、动窗加权平均、动窗中值滤波以及动窗稳健平均。仿真结果表明:动窗稳健平均的输出不会被多个局外数据所影响,并且其处理增益接近理论极限。
英文摘要:
      The outliers contained in the DVL output data might cause the divergence of the Kalman filter of the integrated navigation system.Four data smoothing methods(moving window averaging,moving window weighted averaging,moving window median filtering and moving window robust averaging) are described in this paper.Simulation results indicate that the output of the moving window robust averaging is not influenced by a small fraction of outliers and the processing gain is approximately equal to the theoretical limit.
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