An adaptive Kalman filter algorithm for a Doppler velocity log
An adaptive Kalman filter aided by acceleration information was designed for small autonomous underwater vehicle manoeuvre characteristics. First, an AutoRegressive ( AR) model of Doppler velocity log noise was a-chieved using the time series analysis method. Second, based on the current statistical model, the Kalman filter e-quation for a Doppler velocity log was designed. Finally, an adaptive Kalman filter based on the S plane was designed for the former filters equation characteristics. The experimental results show that when the prior information on acceleration is known, the adaptive Kalman filter based on the S plane has the ability of adjusting filter parameters in real time according to the manoeuvre characteristics with an accuracy that is within 0.04m/s. Furthermore, the time delay can be effectively eliminated, and accurate and timely rate information can be provided for small autonomous underwater vehicles.
国家科技期刊平台
NSTL
万方数据
维普
