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[1]林孝工,焦玉召,聂君. 互相关噪声下动力定位船艏向估计方法[J].电机与控制学报,2018,22(03):114-120.[doi:10.15938/j.emc.2018.03.015]
 LIN Xiao-gong,JIAO Yu-zhao,NIE Jun. The heading estimation of dynamic position ships withcross-correlation noise[J].,2018,22(03):114-120.[doi:10.15938/j.emc.2018.03.015]
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 互相关噪声下动力定位船艏向估计方法()
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
22
期数:
2018年03
页码:
114-120
栏目:
出版日期:
2018-03-15

文章信息/Info

Title:
 The heading estimation of dynamic position ships withcross-correlation noise
作者:
 林孝工 焦玉召 聂君
 ( 哈尔滨工程大学 自动化学院,黑龙江 哈尔滨 150001)
Author(s):
 LIN Xiao-gong JIAO Yu-zhao NIE Jun
 ( College of Automation,Harbin Engineering University,Harbin 150001,China)
关键词:
船舶艏向 互相关噪声 新息分析 状态估计 卡尔曼滤波
Keywords:
 ship heading cross-correlated noise innovation analysis state estimation Kalman filter
分类号:
U 666. 1
DOI:
10.15938/j.emc.2018.03.015
文献标志码:
A
摘要:
 实际系统中的噪声具有一定的相关性,通常不满足独立高斯白噪声的假设。研究了具有相关噪声的动力定位船舶艏向估计问题,首先建立船舶艏向运动状态方程,假设状态噪声和测量噪声是一步自相关和两步互相关的。然后基于新息分析的方法,通过使用投影定理,分别计算出滤波增益矩阵和预测增益矩阵,建立状态预测更新方程和估计误差协方差预测更新方程。最后,通过状态预测值,得到对应的状态估计值,进而得到了一种相关噪声下的滤波算法。通过仿真实验,进一步验证了所提算法的有效性。
Abstract:
 The noise in the actual system has some relevance and does not satisfy the usual assumption ofindependent Gauss white noise. The problem of heading estimation for dynamic position ships with cross-correlated noises was studied. Firstly,the equation of state of ship’s heading motion was established. It isassumed that the state noise and measurement noise are one step auto-correlated and two-step cross-corre-lated. Then,based on the method of innovation analysis,the filter gain matrix and the prediction gainmatrix were calculated respectively by using projection theorem,and the state prediction update equationand the estimation error covariance update equation were established. Finally,the state estimation valueof the head was obtained by the corresponding state prediction,and the filtering algorithm for system withcross-correlated noise was derived. The effectiveness of the proposed algorithm is further verified by simu-lation experiments.

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备注/Memo

备注/Memo:
 收稿日期: 2017 - 09 - 07
基金项目: 海洋深水工程重大装备及配套工程技术( 2011ZX05027 - 002)
作者简介: 林孝工( 1962—) ,男,教授,博士生导师,研究方向检测技术与自动化装置;
焦玉召( 1990—) ,男,博士研究生,研究方向为检测技术与自动化装置、多传感器信息融合;
聂 君( 1990—) ,女,博士研究生,研究方向为信息处理、模糊控制。
更新日期/Last Update: 2018-06-30