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针对水下目标跟踪非线性跟踪精度问题,假设目标机动模型为恒转速运动模型,贝叶斯框架下,因扩展卡尔曼滤波跟踪方法进行模型在估计点的泰勒展开,忽略一阶以上高阶项,存在模型误差,比较了扩展卡尔曼滤波、无迹卡尔曼滤波、容积卡尔曼滤波在高斯噪声干扰下滤波误差均方根,以及3种方法运行时间。仿真证明,非线性系统下状态维度为5,容积卡尔曼滤波跟踪的精度高于无迹卡尔曼滤波,无迹卡尔曼滤波高于扩展卡尔曼滤波。该研究为海上目标非线性测量系统提供仿真实例,为进一步滤波算法改进提供基础。 相似文献
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单波束测深仪是现代海洋和内河水下地形测量中使用最为频繁的测量仪器。硬件设备固有特性和水下复杂的特殊环境,易导致单波束测深仪在实际使用中产生各类型的粗差。单波束采集时按照每条测线进行处理,在数据处理上往往存在不同船只、不同测线难以一体化处理的问题。文中针对水深值粗差的特点,设计了单波束数据采集和处理一体化方法,在区域处理单波束数据的基础上,提出一种顾及地形的单波束水深测量数据多测线粗差检测方法,并针对上海周边实测区域对单波束测深数据采集和处理进行全方位的验证,结果表明应用本方法不但提升了数据精度和数据处理可靠性,而且大幅提高了作业效率。 相似文献
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针对水下多波束地形测量点云去噪问题,提出了一种基于阈值自适应确定的点云滤波算法。首先引入虚拟网格对多波束点云进行分区编号,并采用二次分层统计法剔除显著离群噪点;其次归一化计算网格内种子点与邻域各点的坡度角,引入k-Medoids聚类算法自适应更新坡度阈值;最后按照多尺度滤波窗口逐级对点云进行迭代运算,得到精细化地形点云。2个实验区的多波束点云滤波实验结果表明,本文算法能较好去除多波束点云的噪声和非地形点,有效提高坡度阈值的自适应性,滤波精度有明显提升,可以适用于大规模的多波束点自动化云滤波工作。 相似文献
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针对单波束测深数据插值模型精度验证困难等问题,利用潮间带潮汐规律,提出了一种基于高精度无人机数据验证插值模型精度的方法。在低潮时利用无人机摄影测量构建高精度潮间带数字表面模型,高潮时获取单波束测深数据并结合全球导航卫星系统技术计算得出潮间带地形点的三维坐标,使用克里金插值法、反距离权重法、规则样条函数法以及自然邻域法分别构建潮间带数字高程模型。以无人机数字表面模型数据为基准,分别对4种插值方法构建的潮间带数字高程模型进行精度分析。结果表明:1)后处理差分技术辅助无人机摄影测量可以构建高精度潮间带数字表面模型。2)在潮间带区域可以使用无人机数据作为单波束测深数据精度的评价标准。3)潮间带地形较为平坦时,规则样条函数法相比于其他3种插值方法精度更高,粗差率为12.5%。 相似文献
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针对传统水下边坡监测无法快速、直观展现水下边坡的形态、坡度和细部地形特征,以及多期测量成果间客观存在的系统偏差问题,提出了一种基于特征匹配的水下边坡监测新方法。首先将每期多波束三维点云数据生成水下地形曲面,得到水下边坡的多波束声纳影像;然后将多期监测声纳影像采用加速稳健特征算法生成目标特征集,采用快速最近邻逼近搜索函数库和k邻域算法高效找到最优匹配点;最后通过匹配点校正后的声纳影像,可直观反映水下边坡的动态变化,为后期水下边坡整体稳定性分析与治理提供了基础地形数据。与传统监测的方法相比,该方法实现了水下边坡地形监测可视化,具有全覆盖、分辨率高的特点,对及时监测和掌握水下边坡的动态变化具有一定的工程意义。 相似文献
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分析了导航型GPS在海上地球物理勘探应用中存在的问题,着重研究了卡尔曼滤波对号航数据中航向和航速的处理;提出两种滤波模型,对模拟的导航数据和真实航行数据进行计算,并将结果用于重力测量数据的Eotvos改正,对出现的问题进行了讨论。文章提出适当的处理方法,使导航型GPS适应海上地球物理勘探的要求,提高了导航精度和满足测量了精度。 相似文献
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This study proposes a method for identification of the nonlinear dynamic model of an AUV while some states are unmeasured; hence, it concentrates on a nonlinear “state and parameter estimation” issue. In this method, a local linearization is used for solving the nonlinear dynamics based on the extended Kalman filter (EKF), and a particle filter (PF) is used to minimize errors and variances of the nonlinear system. In other words, the PF is combined with the EKF in the form of the extended Kalman particle filter (EKPF). The EKPF method is independent of the initial values and satisfies the limits of the parameters and also the assumption that the hydrodynamic coefficients are constant. Hence, it is shown when the ranges or signs of some parameters are known, the EKPF is a more accurate estimator than the EKF. Moreover, a new simulation is done using the model estimated by the EKPF and the results are compared and validated with the measured data of a new experimental test. It is shown that the obtained model can predict the trajectory path with the total normalized root-mean-square error (NRMSE) of 14% and the surge mean speed with the NRMSE of 5%; and it describes the 6DOF motion of the AUV more accurate than the EKF model. 相似文献
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实现高精度的定位导航是深海采矿车完成海底工作任务的基础条件。在采矿车行进过程中,声呐设备生成的图像信息能够反映海底场景的变化,从而体现采矿车本身的运动,由此建立了一种声呐图像里程计,并将其与轮式里程计和USBL测量数据相结合提出了一种深海采矿车组合定位导航算法。首先对多波束前视声呐图像进行预处理,然后使用Canny算法进行特征检测并对特征点云进行配准,再结合声呐成像原理构建了声呐图像里程计运动模型,最后通过轮式里程计运动模型推导预测方程、声呐图像里程计运动模型和USBL测量数据推导更新方程,利用EKF(extended Kalman filter)算法实现基于多传感器融合的定位与姿态估计。海试数据验证了该组合定位算法能实现轮式里程计、声呐里程计和超短基线在速度、位置、艏向角估计、定位速率的精度互补,具有一定的有效性和精确性,该算法为深海采矿车的定位与导航算法研发提供了参考。 相似文献
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《中国海洋工程》2015,(6)
To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation(LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning. 相似文献
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To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrain-matching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation (LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning. 相似文献
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Pan-Mook Lee Bong-Huan Jun Kihun Kim Jihong Lee Aoki T. Hyakudome T. 《Oceanic Engineering, IEEE Journal of》2007,32(2):327-345
This paper presents an integrated navigation system for underwater vehicles to improve the performance of a conventional inertial acoustic navigation system by introducing range measurement. The integrated navigation system is based on a strapdown inertial navigation system (SDINS) accompanying range sensor, Doppler velocity log (DVL), magnetic compass, and depth sensor. Two measurement models of the range sensor are derived and augmented to the inertial acoustic navigation system, respectively. A multirate extended Kalman filter (EKF) is adopted to propagate the error covariance with the inertial sensors, where the filter updates the measurement errors and the error covariance and corrects the system states when the external measurements are available. This paper demonstrates the improvement on the robustness and convergence of the integrated navigation system with range aiding (RA). This paper used experimental data obtained from a rotating arm test with a fish model to simulate the navigational performance. Strong points of the navigation system are the elimination of initial position errors and the robustness on the dropout of acoustic signals. The convergence speed and conditions of the initial error removal are examined with Monte Carlo simulation. In addition, numerical simulations are conducted with the six-degrees-of-freedom (6-DOF) equations of motion of an autonomous underwater vehicle (AUV) in a boustrophedon survey mode to illustrate the effectiveness of the integrated navigation system. 相似文献
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基于多波束测深的地形定位是水下潜器导航技术研究和发展的重点,多波束测深数据的高精度快速重采样是水下地形匹配定位的前提。传统的实时抽稀方法因对多波束测深数据模型的过分简化而效果欠佳。参考Douglas-Peucker算法和点云数据抽稀方法,采用角度-弦高联合准则对多波束每ping数据进行抽稀处理,参考导航地形图对抽稀后的多ping数据基于点云离散度进行二次抽稀处理,从而实现多波束测深数据的高精度快速抽稀处理。典型的数学仿真地形和实测多波束条带数据实验表明:文中提出的抽稀方法数据抽稀率仿真地形在85%以上,实测地形在90%以上,数据抽稀前后点云构成的曲面DEM误差在3%以内,并且算法实时性较好。 相似文献
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重力辅助惯性导航的匹配算法初探 总被引:1,自引:0,他引:1
对重力辅助惯性导航技术的基本原理进行了分析,将采样卡尔曼滤波算法用于重力图形匹配。滤波通过设计少量的Σ点,并计算这些Σ点的经由非线性函数的传播,从而获得滤波值基于非线性状态方程的更新,较广义卡尔曼滤波具有计算精度高、便于计算的特点。 相似文献