针对船舶综合导航系统接收的导航信息存在野值点的问题，本文提出一种基于改进53H滤波方法的在线平滑方法。该方法利用连续几个信息的中值预测当前时刻的信息，然后与测量值进行比较，如果两者差值超过一定阈值，则用预测值取代测量值，从而实现在线平滑。通过将该方法应用于海试试验数据的处理，结果表明相对于传统的最小二乘滑动滤波与5点3次平滑算法，该方法计算简单、容易实现，而且具有较好的在线平滑效果。
In view of the existence of outliers in navigation information received by ship integrated navigation system, an online smoothing method based on the improved 53H filtering method is proposed in this paper. The method uses the median of several consecutive information to predict the information at the current moment and then compares it with the measured value. If the difference between the two values exceeds a certain threshold, the predicted value is used to replace the measured value to achieve on-line smoothing. By applying this method to the experimental data of sea trial, the result shows that compared with the traditional least squares sliding filter and 3 times in 5 points smoothing algorithm, this method is simple, easy to implement and has a good online smoothing effect.
2019,41(1): 121-124 收稿日期：2018-01-30
DOI：10.3404/j.issn.1672-7649.2019.01.023
分类号：U666.11
作者简介：吕武(1980-),男,硕士,高级工程师,研究方向为船舶导航系统集成技术
参考文献：
[1] 曲全福, 陈志刚, 高洪宇. 新型综合船桥系统[J]. 中国惯性技术学报, 2011, 19(3):325-328
[2] 韩剑辉, 许镇琳, 赵承利, 等. 船舶综合导航系统应用技术[J]. 天津大学学报, 2010(2):121-125
[3] 韩剑辉, 许镇琳, 舒东亮. 综合船桥多源导航信息融合技术研究[J]. 控制工程, 2010(4):466-469
[4] 张亚崇, 陆志东, 雷宏杰. 多传感器容错综合导航系统技术及其应用研究[J]. 弹箭与制导学报, 2009(4):51-54
[5] 卢元磊, 何佳洲, 安瑾, 等. 几种野值剔除准则在目标预测中的应用研究[J]. 指挥控制与仿真, 2011, 33(4):98-102
[6] WANG Rong, XIONG Zhi, LIU Jian-ye, et al. Chi-square and SPRT combined fault detection for multisensor navigation[J]. IEEE Transactions on Aerospace and Electronic Systems, 2016:52
[7] Joelle Al Hage, Nourdine Aïttmazirte, Maan E. El Najjar, et al. Fault detection and exclusion method for a tightly coupled localization system[C]//2015.
[8] Se Hyun Yun, Chul Woo Kang, Gook Park Chan. Reducing the computation time in the state chi-square test for IMU fault detection[C]//2014:879-883.
[9] Ruan Wen. Improved residual χ~2 inspection in integrated navigation fault detection of application[J]. Electronic Measurement Technology, 2012
[10] LIU Lian-sheng, FU Jing. Improved state-χ2 fault detection of navigation systems based on neural network[C]//2010:3932-3937.
[11] 金学军. 基于最小二乘拟合的外弹道测量数据野值剔除方法[J]. 四川兵工学报, 2011, 32(1):20-23
[12] 陈伟利. 基于最小二乘B样条逼近的观测数据野值剔除方法[J]. 飞行器测控学报, 2001, 20(4):50-53
[13] 杨莉, 张理. 在线监测数据剔点处理算法的研究[J]. 高压电器, 2000, 36(5):3-6
