哈尔滨工程大学学报2011，Vol.32Issue(12)：1534-1538,5.DOI:10.3969/j.issn.1006-7043.2011.12.002
多普勒测速声呐的自适应Kalman滤波算法
An adaptive Kalman filter algorithm for a Doppler velocity log
摘要
Abstract
An adaptive Kalman filter aided by acceleration information was designed for small autonomous underwater vehicle manoeuvre characteristics. First, an AutoRegressive ( AR) model of Doppler velocity log noise was a-chieved using the time series analysis method. Second, based on the current statistical model, the Kalman filter e-quation for a Doppler velocity log was designed. Finally, an adaptive Kalman filter based on the S plane was designed for the former filters equation characteristics. The experimental results show that when the prior information on acceleration is known, the adaptive Kalman filter based on the S plane has the ability of adjusting filter parameters in real time according to the manoeuvre characteristics with an accuracy that is within 0.04m/s. Furthermore, the time delay can be effectively eliminated, and accurate and timely rate information can be provided for small autonomous underwater vehicles.关键词
多普勒声呐/AR模型/CS模型/自适应Kalman滤波Key words
Doppler velocity log/ AR model/ CS model/ adaptive Kalman filter分类
交通工程引用本文复制引用
张强,孙尧,万磊,李晔..多普勒测速声呐的自适应Kalman滤波算法[J].哈尔滨工程大学学报,2011,32(12):1534-1538,5.基金项目
国家自然科学基金资助项目(50909025,E091002) （50909025,E091002）
中央高校基本科研业务费专项基金资助项目(HEUCF110129). （HEUCF110129）
