【作者】 丁浩晗； 冯辉； 徐海祥；

【Author】 DING Hao-han;FENG Hui;XU Hai-xiang;School of Transportation,Wuhan University of Technology;

【机构】 武汉理工大学交通学院；

【摘要】 针对复杂海洋情况下,由模型的不准确而导致的过程噪声变化,使得无迹卡尔曼滤波估计精度下降的问题,本文提出了一种自适应无迹卡尔曼滤波方法。该方法根据一段时间内观测值与后验估计值的偏差,自适应的估计出当前时刻的过程噪声。仿真结果表明:当过程噪声发生变化时,自适应无迹卡尔曼滤波可以较为准确的估计出变化的过程噪声,使滤波结果更加准确。更多还原

【Abstract】 To solve the problem that the conventional unscented Kalman filter becomes inaccurate and diverges by time caused by the system uncertainty or complex ocean occasion.This study proposed an adaptive unscented Kalman filter which can adaptively estimate the process noise.Numerical simulations show that the adaptive unscented Kalman filter can estimate the process noise accurately and improve the result of filter.更多还原