| 自适应非线性滤波及其在图像导航中的应用 |
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| 引用本文： | 孙德波,杨功流,刘悦.自适应非线性滤波及其在图像导航中的应用[J].中国惯性技术学报,1998(3). |
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| 作者姓名： | 孙德波 杨功流 刘悦 |
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| 作者单位： | 哈尔滨工业大学(孙德波)，天津航海仪器研究所(杨功流)，中船总公司综合计划局(刘悦) |
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| 摘 要： | 本文首先介绍了飞行器末制导中采用图像导航的原理和方法，给出了系统模型。针对图像导航的实际情况，提出了自适应非线性Sage-Husa滤波，能在线估计系统的常值偏差及噪声方差。将滤波算法应用到图像导航中，进行仿真，滤波收敛，结果令人满意。
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| 关 键 词： | 图像导航 自适应滤波 非线性滤波 |
Adaptive Non- linear Estimation and its Application in Image- Based Navigation |
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| Sun Dcbo, Yang Gongliu.Adaptive Non- linear Estimation and its Application in Image- Based Navigation[J].Journal of Chinese Inertial Technology,1998(3). |
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| Authors: | Sun Dcbo Yang Gongliu |
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| Institution: | Sun Dcbo; Yang Gongliu(Harbin Institute of Technology) (Tianjin Navigation Instrument Research Institute)Liu Yue(China State Shipbuilding Corp. ) |
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| Abstract: | This paper demonstrates the theoretical principle and method on image- based navigation applied to a flying vehicle's nearfield guidance system,and presents the mathematical model of tile system. Based on the analysis of image - aided navigation,an adaptive non- linear Sage - Husa estimation algorithm is proposed,which canbe used to estimate the constant error and the noise's covariance for the system. By ap. plying the Sage - Husa estimation algorithm to image- based navigation,simulation hasbeen carried out. The simulation result shows that estimating process is convergent andthe estimation algorithm meets the requirements. |
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| Keywords: | image-based navigation adaptive estimation non-linear estimation |
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