DVL数据失效时辅助SINS的神经网络改进算法
Improved Neural Network Algorithm for Assisting SINS When DVL Data Fails
欧阳明达 1朱文会1
作者信息
- 1. 西安测绘研究所,陕西 西安 710054
- 折叠
摘要
SINS/DVL 水下组合导航时,受外界因素影响,DVL 信号不稳定和丢失情况时有发生,容易造成定位结果不连续或精度减弱.将DVL正常时段采集数据作为训练样本,采用径向基函数神经网络算法(RBF)对DVL丢失时段信号进行填补.为降低系统噪声影响,选择采用扩展卡尔曼滤波(EKF)和自适应渐消Sage-Husa扩展卡尔曼滤波(SHEKF)2 种模式进行组合导航计算,得到不同计算结果.分析表明,RBF 算法能够用于处理DVL信号丢失情况,相同条件下,SHEKF滤波模式能够得到更优计算结果,E方向上位置误差相比EKF滤波减少约 50%.
Abstract
In underwater SINS/DVL integrated navigation,the instability and loss of DVL signal often occur due to external factors,which may easily lead to discontinuous positioning or weakened accuracy.In this paper,the data collected during the normal period of DVL are used as training samples,and the radial basis function neural network algorithm(RBF)is used to fill the signal during the period of DVL loss.To reduce the influence of system noise,two modes of extended Kalman filter(EKF)and adaptive fading Sage-Husa extended Kalman filter(SHEKF)are selected for integrated navigation calculation,and different calculation results are obtained.The analysis shows that RBF algorithm can be used to deal with the loss of DVL signal.Under the same conditions,SHEKF filter mode can get better calculation results,and the position error in the direction of E is reduced by about 50%compared with EKF filter.
关键词
水下组合导航/扩展卡尔曼滤波/径向基函数神经网络算法/多普勒计程仪Key words
underwater integrated navigation/extended Kalman filter/radial basis function neural network algorithm/Doppler velocity引用本文复制引用
基金项目
国家自然科学基金基础科学中心项目(42388102)
出版年
2024
国家科技期刊平台
NSTL
万方数据