[1]李 晔,常文田,万 磊,等.水下机器人自适应卡尔曼滤波技术研究[J].智能系统学报,2006,1(2):44-47.
LI Ye,CHANG Wen-tian,WAN Lei,et al.Research on underwater vehicle adaptive Kalman filter[J].CAAI Transactions on Intelligent Systems,2006,1(2):44-47.
点击复制
LI Ye,CHANG Wen-tian,WAN Lei,et al.Research on underwater vehicle adaptive Kalman filter[J].CAAI Transactions on Intelligent Systems,2006,1(2):44-47.
水下机器人自适应卡尔曼滤波技术研究
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
1
期数:
2006年第2期
页码:
44-47
栏目:
学术论文—人工智能基础
出版日期:
2006-10-25
- Title:
- Research on underwater vehicle adaptive Kalman filter
- 文章编号:
- 1673-4785(2006)02-0044-04
- Keywords:
- underwater vehicle; Kalman filter; adaptive
- 分类号:
- TP24
- 文献标志码:
- A
- 摘要:
- 水下机器人的位置和速度传感器受环境影响较大，数据滤波问题是运动控制的核心问题之一.给出了离散型卡尔曼滤波的基本方程，描述了卡尔曼滤波所具有的两个计算回路：增益计算回路和滤波计算回路.建立了水下机器人状态方程和量测方程，并在此基础上采用了自适应卡尔曼滤波方法对水下机器人的传感器数据进行了滤波分析.引入了渐消记忆指数加权方法.对时变噪声统计中，强调了新近数据的作用.避免了系统误差和量测误差统计特性的不准确对系统滤波效果的影响.滤波效果分析表明此方法能达到很好的滤波效果.
- Abstract:
- AUV position and velocity sensors are affected by environment. Data fi ltering is one of important problems of AUV motion control. Discrete basic Kalma n filter equation is given. Two loops of Kalman filter: plus loop and filter loo p are described. AUV state equation and measuring equation are founded. Data fro m AUV sensors are disposed by adaptive Kalman filter with fading exponent. Fadin g memory exponent is introduced. New data are emphasized for timevaried data. T his method avoids inaccuracy by system error and measuring error. Filter effect analysis proves that the method is effective.
- 参考文献/References:
-
［1］刘建成, 徐玉如. 水下机器人神经网络滤波技术的研究［J］. 海洋工程, 2002, 20( 3): 34－38.
?LIU Jiancheng, XU Yuru. A filtering method with neural network for underwate r vehicle ［J］. Ocean Engineering, 2002, 20(3): 34－38.
［2］ WANG Y F,HAN X L，HU H Z. Study on federated archi tecture for GPS/INS/TRN integrated navigation system ［J］. Journal of Systems E ngineering and E lectronics,2000,11(1):75－80.
［3］ SASIADEK J Z, WANG Q，ZEREMBA M B. Fuzzy adoptive Kalman filtering f or INS/GPS data fusion ［A］. In：Proc 15th IEEE International Symposium on Int elligent Control［C］. Patras, Greece, 2000.
［4］ 朱 海, 莫 军. 水下导航信息融合［M］. 北京：国防工业出版社，2002.
［5］ 秦永元, 张洪钺，汪淑华. 卡尔曼滤波与组合导航原理［M］. 西安：西北工业大学出版社，1998.
［6］ 马 艳.数据融合技术在多传感器组合导航中的应用［D］. 南京: 南京航空航天大学, 2000.
?MA Yan. Information amalgamation in multisensors combined navigation ［D］. Na njing: Nanjing University of Aeronautics and Astronautics, 2000
- 相似文献/References:
-
[1]徐玉如,庞永杰,甘?? 永,等.智能水下机器人技术展望[J].智能系统学报,2006,1(1):9.
XU Yu-ru,PANG Yong-jie,GAN Yong,et al.AUV—state-of-the-art and prospect[J].CAAI Transactions on Intelligent Systems,2006,1():9.
[2]庞永杰,李 晔 .带翼水下机器人的非线性拟合分段控制方法[J].智能系统学报,2009,4(3):258.
PANG Yong-jie,LI Ye.Nonlinear fitted step control method for a winged micro autonomous underwater vehicle[J].CAAI Transactions on Intelligent Systems,2009,4():258.
[3]叶玲,李太华,代学武.无线传感器网络环境下基于卡尔曼滤波的PTP协议[J].智能系统学报,2012,7(6):518.
YE Ling,LI Taihua,DAI Xuewu.Kalman filtering based precision time protocol (PTP) in wireless sensor networks[J].CAAI Transactions on Intelligent Systems,2012,7():518.
[4]李大伟,贾鹏飞,李卫国,等.一种基于卡尔曼滤波与模糊算法的变电站机器人组合导航及控制系统设计[J].智能系统学报,2013,8(3):226.
LI Dawei,JIA Pengfei,LI Weiguo,et al.A kind of integrated navigation and control system design for substation robot based on the Kalman filtering and fuzzy algorithm[J].CAAI Transactions on Intelligent Systems,2013,8():226.
[5]袁健,周忠海,金光虎,等.基于卡尔曼滤波的自主式水下航行器大尺度编队控制[J].智能系统学报,2013,8(4):344.[doi:10.3969/j.issn.1673-4785.201304033]
YUAN Jian,ZHOU Zhonghai,JIN Guanghu,et al.Large-scale formation control for autonomous underwater vehicles based on Kalman filtering[J].CAAI Transactions on Intelligent Systems,2013,8():344.[doi:10.3969/j.issn.1673-4785.201304033]
[6]张鸿皓,姜大鹏,庞永杰,等.水下机器人任务流程建模与管理[J].智能系统学报,2013,8(5):433.[doi:10.3969/j.issn.1673-4785.201210067]
ZHANG Honghao,JIANG Dapeng,PANG Yongjie,et al.Workflow modeling and management on AUV[J].CAAI Transactions on Intelligent Systems,2013,8():433.[doi:10.3969/j.issn.1673-4785.201210067]
[7]马健,俞扬.一种基于全局位置估计误差的路标探索策略[J].智能系统学报,2014,9(3):313.[doi:10.3969/j.issn.1673-4785.201310014]
MA Jian,YU Yang.Landmark exploration strategy using estimated global localization error[J].CAAI Transactions on Intelligent Systems,2014,9():313.[doi:10.3969/j.issn.1673-4785.201310014]
[8]欧伟奇,尹辉,许宏丽,等.一种基于Multi-Egocentric视频运动轨迹重建的多目标跟踪算法[J].智能系统学报,2019,14(2):246.[doi:10.11992/tis.201709003]
OU Weiqi,YIN Hui,XU Hongli,et al.A multi-object tracking algorithm based on trajectory reconstruction on multi-egocentric video[J].CAAI Transactions on Intelligent Systems,2019,14():246.[doi:10.11992/tis.201709003]
[9]张霖,谢开鑫,郑显华,等.多机器人系统感知能力和控制体系结构综述[J].智能系统学报,2024,19(4):767.[doi:10.11992/tis.202306001]
ZHANG Lin,XIE Kaixin,ZHENG Xianhua,et al.A survey on perception ability and control architecture of multi-robot system[J].CAAI Transactions on Intelligent Systems,2024,19():767.[doi:10.11992/tis.202306001]
备注/Memo
收稿日期：2006-01-01.
基金项目：国家863基金资助项目（2002AA420090）.
作者简介：
李 晔，男，1978年生，博士研究生，主要研究方向为水下机器人规划与运动控制，人工智能.
E-mail:liyelijing@yahoo.com.cn.
万 磊，男，1964年生，研究员，船舶与海洋结构物设计制造专业硕士研究生导师，主要研究方向为水下机器人控制系统设计与集成，水下导航.发表学术论文多篇.
更新日期/Last Update:
2009-04-27