| 刘建波,韩树平,徐景峰,杨刚.一种信标水声定位的改进扩展卡尔曼滤波算法[J].声学技术,2020,39(6):752~757 |
| 一种信标水声定位的改进扩展卡尔曼滤波算法 |
| An improved EKF positioning algorithm for underwater acoustic beacon |
| 投稿时间：2020-09-30 修订日期：2020-10-23 |
| DOI：10.16300/j.cnki.1000-3630.2020.06.016 |
| 中文关键词: 水声定位 测距误差 改进扩展卡尔曼滤波 初值选取 |
| 英文关键词: underwater acoustic positioning ranging deviation improved extended Kalman filter (IEKF) initial position determining |
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| 中文摘要: |
| 水声测距误差通常偏离高斯分布,纯距离扩展卡尔曼滤波(Extended Kalman Filter,EKF)定位跟踪算法误差较大。在将测距噪声分为高斯分量和非高斯缓变分量的基础上,提出了一种改进的扩展卡尔曼滤波EKF算法(Improved Extended Kalman Filter,IEKF)和初值选取方法。利用仿真实验和湖试对IEKF算法进行了验证,结果表明IEKF算法能够对测距偏差进行跟踪补偿,定位精度明显优于常规EKF算法。 |
| 英文摘要: |
| Underwater acoustic ranging error usually deviated from Gaussian distribution, which brings about low-precision for the extended Kalman filter (EKF) tracking in range-only positioning and navigation. Assuming that the ranging deviation comprises Gaussian and non-Gaussian deviation, an improved EKF (IEKF) algorithm and initial position determining method are put forward. Simulation and lake trial are conducted, and the results show that IEKF could achieve better precision compared to conventional EKF. |
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