多模型卡尔曼滤波在地磁场航海测量中的应用
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摘要
由于卡尔曼滤波对模型精度有很强的依赖性,因此实际的地磁场测量系统中,宜采用多模型自适应卡尔曼滤波,以提高状态估计的准确度。针对并行子滤波器间的数据融合问题,提出了"距离"意义下的数据融合新算法,应用结果表明算法具有实用性。探讨了通过检验并行子滤波器状态估计一致性的模型误差识别方法,并将其应用于监测地磁场测量系统中船舶磁化参数的变化。
In practice,multi-model Kalman filter is suitable for shipboard three-component geomagnetic measurement system because Kalman filtering depends too much on the accuracy of state-space model.A novel data fusion algorithm for the states of the parallel filters is introduced based on the meaning of distance.The application shows the efficiency of the algorithm.A method to identify state-space model errors is discussed by judging the uniformity of the state estimation,which can be used to monitor the changing of ship's magnetic susceptibility.
In practice,multi-model Kalman filter is suitable for shipboard three-component geomagnetic measurement system because Kalman filtering depends too much on the accuracy of state-space model.A novel data fusion algorithm for the states of the parallel filters is introduced based on the meaning of distance.The application shows the efficiency of the algorithm.A method to identify state-space model errors is discussed by judging the uniformity of the state estimation,which can be used to monitor the changing of ship's magnetic susceptibility.
引文
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[3]陶本藻.卡尔曼滤波模型误差的识别[J].地壳形变与地震,1999,19(4).
[4]肖乾.多模型理论[J].船舶科学技术,2005,27(2).
[5]Dominique Gruyer,Morgan Mangeas,Cyril Royere.Anew approach for credibilistic multi-sensor association[C]∥5th International Conference on Information Fu-sion,Annapolis,USA,2002-01:170-177.
[6]J S Gee,S C Cande.A surface-towed vector magnetometer[J].Geophysical Research Letters,2002,29(14).
[7]肖昌汉.船舶磁性防护系统及其抗干扰调整方法[D].武汉:华中科技大学,1998:33-46.
[8]颜威利,杨庆新,汪友华,等.电气工程点磁场数值分析[M].北京:机械工业出版社,2006:4-8.
[9]张贤达.现代信号处理[M].北京:清华大学出版社,2002:177-187.
[10]杨元喜,何海波,徐天河.论动态自适应滤波[J].测绘学报,2001,30(4).
[11]陆如华,徐传玉,张玲,等.卡尔曼滤波的初值计算方法及应用[J].应用气象学报,1997,8(1).
[12]顾启泰,王颂.联邦滤波器信息分配系数的优选算法[J].中国惯性技术学报,2003,11(6).
[13]秦永元,李岁劳.联邦滤波器公共参考信息的分配[J].导航,1998,(1).
[14]柳响林,刘京南,杜道生.卡尔曼滤波可靠性分析及其在动态GPS定位中的应用[J].武汉测绘科技大学学报,1997,22(3).
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