用无味变换法求解交会测量及其协方差传播

在交会测量中,交会角的测量误差会使得定位结果具有不确定性,定位坐标的均值和协方差用于表示定位结果及其不确定度。首先对基于一阶Taylor级数展开的前方交会测量及其协方差传播进行研究,分析发现该方法仅具有一阶精度,特别是在测量误差较大的场合,该方法精度较低。然后将无味变换方法用于前方交会测量定位问题,使定位精度、协方差传播精度均提高到二阶以上。最后通过数值仿真验证了无味变换方法在定位精度以及协方差传播精度方面的优势。

Solving Intersection Measurement Problem and Its Covariance Transformation Using Unscented Transformation Method

In the intersection measurement problem, the error in the measurement of intersection angle and base line length can bring uncertainty to the determination of coordinate of intersection point. The uncertainty is denoted by the mean and covariance of the intersection point coordinate. Firstly, the determination of the intersection point coordinate and its covariance using first order Taylor series is analyzed, and the shortage of accuracy is pointed out. Secondly, unscented transformation method is adopted in forward intersection measurement problem, and the second order accuracy of the coordinate and its covariance is achieved. Thirdly, digital simulation is designed, and the high accuracy of the UT method is validated.