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中文核心期刊

水下被动测距的后置处理

Post processor of underwater passive range finding

  • 摘要: 本文根据我国海上实验数据,分析了水下被动定位后置处理的必要性和作用,并较系统地发展了以线性二维卡尔曼滤波为基础的处理方法。分析了平均法可获得的性能和存在的问题,详细地发展出用时延的二次差作状态变量的线性卡尔曼滤波器,讨论了噪声统计参数的选取,发现运动噪声参数对环境变化敏感,需要自适应调整。分析了极坐标和直角坐标下两级距离滤彼的性能。最后讨论了海上实验分析中发现的有待进一步研究的问题。

     

    Abstract: The analysis of physical data in shallow water shows the importance of post processing. The same type of dynamical and measurement model of linear Kalman filter can be used to deal with different state variable, like time delay, bearing and range. These filters can be combined into a wonderful post-processor. Investigation of the noise parameter selection explores that observation noise parameters need not be selected strictly, process noise parameter is sensitive to environment and its adaptation is necessary in the filter. The performance of range filter as second stage filter either polar or cartesian coordinate are analyzed. At last an unexpected phenomenon is revealed from the analysis of physical data which needs further study

     

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