摘要
针对船舶的导航精度提高的问题,采用基于海流数据的卡尔曼滤波算法获得的海流信息,并通过对船舶经纬度、海流分量和航向、航速等非线性微分方程进行线性化处理,得出其相应的转移矩阵,然后推算出船舶在某时刻的测量向量和测量矩阵.最后对各个方程式进行卡尔曼滤波计算,并通过对系统的仿真所得到的误差曲线验证了该方法的有效性,最终通过该方法保证系统模型的实时性.
In this paper, for the hot issue of improving accuracy of ships＇navigation, the ocean current information is obtained with Kalman filter based on ocean current data. The non-linear differential equations for course, speed and latitude and longitude for ship, and heft of ocean current were changed into linear equations, and elicited transmission matrixes. Then the measure vector and measure matrix was calculated for ship at some time. At last, Kalman filter of the kind of equations was calculated, and verified the effectiveness of the method through the curve of error from the simulation of system. Finally, this method could keep the real-time of models.
出处
《应用科技》
CAS
2008年第11期54-57,共4页
Applied Science and Technology
关键词
卡尔曼滤波
船舶导航
海流数据
Kalman filter
ship navigation
ocean current data
