| 一种基于粒子滤波的水下地形匹配算法研究 |
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| 引用本文： | 谌剑,张静远,严平. 一种基于粒子滤波的水下地形匹配算法研究[J]. 海军工程大学学报, 2008, 20(6) |
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| 作者姓名： | 谌剑 张静远 严平 |
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| 作者单位： | 海军工程大学,兵器工程系,武汉,430033 |
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| 摘 要： | 引入了剩余重采样的概念,通过权值分类和剩余权值重采样两个步骤完成粒子的复制,提高了运算速度.使用三次样条插值的方法对深度数据进行插值,构建了湖泊水下数字高程模型.通过仿真证明了该算法的可行性,并分析了匹配误差与水下地形的关系.
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| 关 键 词： | 水下地形辅助导航 粒子滤波 剩余重采样 数字高程模型 三次样条插值 |
An underwater terrain matching arithmetic based on particle filter |
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| SHEN Jian,ZHANG Jing-yuan,YAN Ping. An underwater terrain matching arithmetic based on particle filter[J]. Journal of Naval University of Engineering, 2008, 20(6) |
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| Authors: | SHEN Jian ZHANG Jing-yuan YAN Ping |
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| Affiliation: | Dept.of Weaponry Engineering;Naval Univ.of Engineering;Wuhan 430033;China |
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| Abstract: | The conception of residual resampling was introduced.Particles were copied during the two steps,namely the weights classification and residual weights resampling,which improved the operating speed.Then the smoothing depth data was used with a scubic spline interpolation method for generating the underwater DEM of a lake.The simulation results demonstrate that the method is effective.And meanwhile the relationship between the maching error and the underwater terrain was analyzed. |
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| Keywords: | terrain aided underwater navigation particle filter residual resampling digital elevation model scubic spline interpolation |
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