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针对高海况条件下因海流扰动的影响导致观测噪声方差未知时变的特点,基于模糊控制技术提出一种基于FCMAP-UKF滤波技术的水下无源组合导航系统状态估计方法.该方法在滤波迭代过程中引入模糊自适应因子,对未知观测噪声方差阵进行动态调节,提高了系统的自适应能力和鲁棒性.滤波结果表明,该系统在达到传统方法精度的同时,能够克服自主导航过程中不确定的噪声和随机干扰的影响而进行有效的定位导航.
Aiming at the unknown and time-varying variances of the observed noise under the condition of high sea conditions due to the disturbance of the sea current, a state estimation method of underwater passive navigation system based on FCMAP-UKF is proposed based on the fuzzy control technique. The fuzzy adaptive factor is introduced to dynamically adjust the unknown observation noise variance matrix to improve the adaptive ability and robustness of the system.The filtering results show that the system can overcome the accuracy of the traditional method and overcome the disadvantages of autonomous navigation Uncertain noise and random interference for effective positioning and navigation.