Jmpda skillfully avoids calculating of the association probabilistic which has high complexity and costs too much time . in order to use the four channels of hfgwsr , jmpda is combined to parallel filter , thus we obtain the whole algorithm ? ? multi sensor joint maximum probabilistic data association based on parallel filter ( msjmpdapf ) 。 3 該算法巧妙的回避了jpda算法中復(fù)雜度很高耗時嚴(yán)重的關(guān)聯(lián)概率kj , t的計算,并將改進(jìn)之后的jmpda算法應(yīng)用于多傳感器系統(tǒng)得到msjmpda算法。
The innovations consist of : synthetically restraining the filter ' s divergence , as effectively improved the filter ' s numerical stability ; a parallel filter structure is creatively designed to eliminate system biases ; and sprt method is used to control the adjustment of the noise statistics , so as to ameliorate the tracking performance of time - variant noises 對常規(guī)的次優(yōu)遞推sage自適應(yīng)濾波器進(jìn)行了改造,包括:對濾波結(jié)果發(fā)散進(jìn)行綜合抑制,提高了濾波器的數(shù)值穩(wěn)定性;采用并行結(jié)構(gòu),消除了結(jié)果偏差;應(yīng)用sprt控制調(diào)整,增強(qiáng)了濾波器的動態(tài)跟蹤能力。
States collection and rules collection together enable efficient access control . among options of different content filtering methods , the state machine - based plan is selected , which is more appropriate for hardware design . and based on this , the concept of unit filter module - servo is presented , and the implementation of the servos " array enables parallel filtering and enhanced the performance of content filter module 此外,還進(jìn)一步引入了cache的設(shè)計思想,提出了狀態(tài)表結(jié)構(gòu),狀態(tài)表和規(guī)則表的有機(jī)配合,實(shí)現(xiàn)了高效的訪問控制功能;在內(nèi)容過濾的眾多選擇中,針對硬件設(shè)計的特點(diǎn),確立了基于狀態(tài)機(jī)的實(shí)現(xiàn)方案,并提出了單元過濾模塊?伺服器的概念,通過伺服器陣列技術(shù)的引入,使得過濾可以并發(fā)執(zhí)行,提高了內(nèi)容過濾模塊的處理能力。
First , aiming at the characteristics of miniaturization and the high precision required in the navigation system of the underwater vehicle , a new fault tolerant scheme which uses parallel filters is provided in this dissertation . the scheme not only has the optimality of centralized kalman filter but also has the characteristics of federated kalman filter ' s modularity . because the design and operation of each filter are completely independent , the fault tolerance ability is highly enhanced 針對水下潛器的小型化、導(dǎo)航定位精度要求很高的特點(diǎn)本文提出了基于平行濾波器族的組合容錯結(jié)構(gòu),該結(jié)構(gòu)不僅具有傳統(tǒng)集中卡爾曼濾波的最優(yōu)性,又具有聯(lián)邦濾波的模塊化特性,且各濾波器的設(shè)計和運(yùn)行完全獨(dú)立,大大增強(qiáng)了組合導(dǎo)航系統(tǒng)的容錯性。