论文部分内容阅读
针对量测噪声为非高斯分布时的采煤机定位问题,提出一种基于混合高斯平方根无迹卡尔曼滤波(MG-SRUKF)的采煤机定位方法。该方法将惯导定位信息作为滤波过程的量测输出,依据运动状态方程和量测方程估计出采煤机的状态向量,作为滤波得到的最优定位结果。最后给出基于MG-SRUKF定位方法的具体流程。采煤机仿真结果表明,相比于混合高斯UKF(MG-UKF),MGSRUKF的滤波精度高于MG-UKF,且MG-SRUKF的滤波耗时与MG-UKF相同。
In order to solve the problem of shearer positioning when the measurement noise is non-Gaussian distribution, a shearer positioning method based on the mixed Gaussian square root unscented Kalman filter (MG-SRUKF) is proposed. The method uses the inertial navigation information as the output of the filtering process, and estimates the state vector of the shearer based on the equation of motion and the measurement equation as the optimal positioning result. Finally, the specific procedure based on the MG-SRUKF positioning method is given. The simulation results of shearer show that the filtering accuracy of MGSRUKF is higher than that of MG-UKF compared with that of mixed Gaussian UKF (MG-UKF), and the filtering time of MG-SRUKF is the same as MG-UKF.