基于粒子滤波的AUV组合导航方法

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张博, 徐文, 李建龙. 基于粒子滤波的AUV组合导航方法[J]. 机器人, 2012, 34(1): 78-83.. ZHANG Bo, XU Wen, LI Jianlong. Particle Filter-Based AUV Integrated Navigation Methods. ROBOT, 2012, 34(1): 78-83..

摘要讨论了粒子滤波器和RB（Rao-Blackwellised）粒子滤波器两种滤波方法在组合导航中的应用，给出了组合导航算法用于自治水下航行器（AUV）的具体数学模型，并且与拓展卡尔曼滤波器的导航结果进行比较．利用AUV湖上试验验证了3种算法的导航性能，试验结果表明RBPF组合导航算法能够获得最好的导航精度；然而通过对算法进行分析，发现其计算复杂度高于其余两种滤波算法．

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	张博
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关键词 ：自治水下航行器, 组合导航, 粒子滤波器, Rao-Blackwellised粒子滤波器, 拓展卡尔曼滤波器

Abstract：Applications of the particle filter(PF) and Rao-Blackwellised particle filter(RBPF) to AUV(autonomous underwater vehicle) integrated navigation are discussed.The specific mathematical model for implementation of the integrated navigation method on AUV is presented.And those methods are compared with the extended Kalman filter(EKF).The results of AUV navigation experiment at Qiandao Lake show that the method based on RBPF can provide the best navigation performance.However,algorithm analysis shows that this method requires more computational effort compared with the other two filter algorithms.

Key words： AUV(autonomous underwater vehicle) integrated navigation particle filter RBPF(Rao-Blackwellised particle filter) EKF(extended Kalman filter)

收稿日期: 2011-04-19 录用日期: 2011-12-10

U666.1

基金资助:国家863计划资助项目（2009AA12Z308）；中央高校基本科研业务费专项资金资助项目（2011XZZX003）；机器人学国家重点实验室资助项目（RLO200817）

通讯作者: 李建龙 E-mail: JLLi@zju.edu.cn

作者简介: 张博（1985- ），男，硕士生．研究领域：水下导航技术，嵌入式水下导航系统．
徐文（1967- ），男，博士，教授．研究领域：信号与信息处理，水声学，移动传感器网络，嵌入式信号处理系统．
李建龙（1976- ），男，博士，副教授．研究领域：信号与信息处理，声学．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I1/78

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