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为了抑制舰船系泊对准过程中的高频随机干扰,提出一种在惯性系对准的基础上引入2D-HMM/KF(二维隐式马尔可夫模型卡尔曼滤波)的新方法.高频随机噪声在通过2D-HMM/KF滤波器后被滤除,近似周期性的中等频率干扰通过积分运算正负基本抵消,进而提取出载体惯性坐标系下低频的重力矢量信息以完成初始姿态矩阵的获取,与传统数字低通滤波器相比该方法不存在滤波延迟问题.利用多次系泊实验分析了引入滤波前后惯性系对准方法的对准结果,研究表明:采用该滤波技术的系泊对准方法将方位对准精度提高了一倍,且具有更好的鲁棒性.
In order to restrain high-frequency random disturbance during the mooring alignment of ships, a new method of introducing 2D-HMM / KF (two-dimensional hidden Markov model Kalman filter) based on inertial alignment is proposed. The high-frequency random noise is filtered after passing through the 2D-HMM / KF filter. The approximate periodic medium-frequency interference is basically offset by positive and negative integral operations, and the low-frequency gravity vector information in the inertial coordinate system of the carrier is extracted to complete the initial posture Compared with the traditional digital low-pass filter, this method does not have the problem of filter delay.This paper analyzes the alignment results of inertial alignment before and after the introduction of filtering by using multiple mooring experiments. The results show that: The method of mooring alignment doubles the azimuth alignment accuracy and has better robustness.