一种基于卡尔曼滤波的数据后置处理算法
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- 英文论文题名：A method based on the Kalman filter for the data post-processing
- 论文作者：章志恒 ; 冯海泓 ; 黄敏燕 ; 任晓寰
- 英文论文作者：ZHANG Zhi-heng ; FENG Hai-hong ; HUANG Min-yan ; REN Xiao-huan ; Shanghai Acoustics Laboratory ; Institude of Acoustics ; Chinese Academy of Sciences
- 年：2016
- 作者机构：中国科学院声学研究所东海研究站;
- 论文关键词：水声定位 ; 卡尔曼滤波 ; 数据后置处理
- 英文论文关键词：acoustic positioning ; kalman filter ; data post-processing
- 会议召开时间：2016-10-28
- 会议录名称：2016年全国声学学术会议论文集
- 语种：中文
- 分类号：TN713;TB56
- 学会代码：OGSM
- 会议名称：2016年全国声学学术会议
- 会议地点：中国湖北武汉
- 主办单位：中国声学学会
- 学会名称：中国声学学会
- 页数：3
- 文件大小：539k
- 原文格式：D
- 会议级别：全国
摘要
本文研究在长基线水声定位系统下定位算法的数据后置处理部分,通过对目标运动轨迹的仿真计算,分析了环境噪声对定位轨迹的影响。在仿真中采用基于卡尔曼滤波算法的数据后置处理,有效的提高了定位轨迹的精度。利用本文中所采用的数据处理方法对湖上试验数据进行处理结果表明,定位轨迹在经过后置处理后变得更加平滑,对存在较多野点的航次轨迹有较好的处理效果,情况与仿真结果基本一致。
This paper researches the data post-processing of the positioning algorithm of the Long Baseline system, analyzes the impact of the environment noise on positioning trajectory through the simulation of the dynamic target' trajectory. A algorithm based on the kalman filter for the data post-processing is used in this simulation, improving the precision of the positioning trajectory effectively. The algorithm mentioned in this paper is used in processing the experiment data of a long base line acoustic positioning system, the results shows that the new trace is more smooth after the data post-processing, especially for some positioning trajectories that have more outliers. The results is consistent with the simulation results.
This paper researches the data post-processing of the positioning algorithm of the Long Baseline system, analyzes the impact of the environment noise on positioning trajectory through the simulation of the dynamic target' trajectory. A algorithm based on the kalman filter for the data post-processing is used in this simulation, improving the precision of the positioning trajectory effectively. The algorithm mentioned in this paper is used in processing the experiment data of a long base line acoustic positioning system, the results shows that the new trace is more smooth after the data post-processing, especially for some positioning trajectories that have more outliers. The results is consistent with the simulation results.
引文
[1]Kalman,R.E.1960.“A New Approach to Linear Filtering and Prediction Problems.”Transactions of the ASME-Journal of Basic Engineering,82(Series D):35-45.Copyright 1960 by ASME.
[2]Brown,R.G.and P.Y.C.Hwang.1992.Introduction to Random Signals and Applied Kalman Filtering,Second Edition,John Wiley&Sons,Inc.
[3]I.P.Kirsteins.A.H.Quazi.Exact Maximun Likelihood Time Delay Estimation for Deterministic Signals.In Proceedings of EUSIPCO88.Sep.1988
[4]G.C.Carter.Coherence and Time Delay Estimation.An Applied Tutorial for Research,Development,Test and Engineers.New York:IEEE 1993
[5]何有,修建娟,关欣等著.雷达数据处理及应用(第三版).北京:电子工业出版社,2013.3.He You,Xiu Jianjuan,Guan Xin,Radar Data Processing With Applications(Third Edition).Beijing:Publishing House Of Electronics Industry.2013.3.
[6]王学斌,徐建宏,张章,卡尔曼滤波器参数分析与应用方法研究.计算机应用与软件,2012年6月,第29卷第6期.Wang Xuebin,Xu Jianhong,Zhang Zhang,On Analysis And Application Approach For Kalman Filter Parameters.Computer Applications and Software,Vol.29 No.6,Jun.2012
[2]Brown,R.G.and P.Y.C.Hwang.1992.Introduction to Random Signals and Applied Kalman Filtering,Second Edition,John Wiley&Sons,Inc.
[3]I.P.Kirsteins.A.H.Quazi.Exact Maximun Likelihood Time Delay Estimation for Deterministic Signals.In Proceedings of EUSIPCO88.Sep.1988
[4]G.C.Carter.Coherence and Time Delay Estimation.An Applied Tutorial for Research,Development,Test and Engineers.New York:IEEE 1993
[5]何有,修建娟,关欣等著.雷达数据处理及应用(第三版).北京:电子工业出版社,2013.3.He You,Xiu Jianjuan,Guan Xin,Radar Data Processing With Applications(Third Edition).Beijing:Publishing House Of Electronics Industry.2013.3.
[6]王学斌,徐建宏,张章,卡尔曼滤波器参数分析与应用方法研究.计算机应用与软件,2012年6月,第29卷第6期.Wang Xuebin,Xu Jianhong,Zhang Zhang,On Analysis And Application Approach For Kalman Filter Parameters.Computer Applications and Software,Vol.29 No.6,Jun.2012