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多普勒测速声呐的自适应Kalman滤波算法

DOI: doi:10.3969/j.issn.1006-7043.2011.12.002

Keywords: 多普勒声呐, AR模型, CS模型, 自适应Kalman滤波

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Abstract:

针对小型自主水下无人潜器的运动特点,设计了一种加速度信息辅助的自适应Kalman滤波器,用于多普勒测速声呐的数据处理.首先基于时间序列分析法,建立了多普勒测速声呐噪声信号的AR模型,并根据当前统计模型设计了多普勒测速声呐Kalman滤波方程.然后针对滤波方程特点,设计了基于S面的自适应Kalman滤波器.实验结果表明,在已知加速度先验信息的条件下,基于S面的自适应Kalman滤波器能够根据小型水下机器人的运动特点实时调整滤波参数,滤波精度优于0.04m/s,且能够有效消除时间延迟,为小型水下机器人控制系统提供准确及时的速度信息.

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