Improved modified gain extended Kalman filter algorithm based on back propagation neural network

doi:10.11772/j.issn.1001-9081.2016.05.1196

Journal of Computer Applications ›› 2016, Vol. 36 ›› Issue (5): 1196-1200.DOI: 10.11772/j.issn.1001-9081.2016.05.1196

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Improved modified gain extended Kalman filter algorithm based on back propagation neural network

LI Shibao, CHEN Ruixiang, LIU Jianhang, CHEN Haihua, DING Shuyan, GONG Chen

College of Computer and Communication Engineering, China University of Petroleum, Qingdao Shandong 266580, China

Received:2015-11-04 Revised:2015-12-23 Online:2016-05-09 Published:2016-05-10
Supported by:
This work is partially supported by the Natural Science Foundation of Shandong Province (ZR2014FM017), the Fundamental Research Funds for the Central Universities (15CX05025A), the Science and Technology Planning Project of Huangdao District, Qingdao (2014-1-45).

基于反向传播神经网络改进的增益修改卡尔曼滤波算法

李世宝, 陈瑞祥, 刘建航, 陈海华, 丁淑妍, 龚琛

中国石油大学(华东) 计算机与通信工程学院, 山东青岛 266580

通讯作者: 李世宝
作者简介:李世宝(1978-),男,山东潍坊人,副教授,硕士,主要研究方向:移动计算、无线传感器网络;陈瑞祥(1990-),男,山东济宁人,硕士研究生,主要研究方向:移动计算;刘建航(1978-),男,辽宁锦州人,博士,主要研究方向:车联网;陈海华(1983-),男,湖北武汉人,博士,主要研究方向:无线测向;丁淑妍(1973-),女,黑龙江大庆人,硕士,主要研究方向:正交频分复用;龚琛(1990-),男,安徽淮北人,硕士研究生,主要研究方向:无线测向。
基金资助:
山东省自然科学基金资助项目(ZR2014FM017);中央高校基本科研业务费专项资金资助项目(15CX05025A);青岛市黄岛区科技计划项目(2014-1-45)。

Abstract

Abstract: In practical application, Modified Gain Extended Kalman Filter (MGEKF) algorithm generally uses erroneous measured values instead of the real values for calculation, so the modified results also contain errors. To solve this problem, an improved MGEKF algorithm based on Back Propagation Neural Network (BPNN), termed BPNN-MGEKF algorithm, was proposed in this paper. At BPNN training time, measured values were used as the input, and modified results by true values as the output. BPNN-MGEKF was applied to single moving station bearing-only position experiment. The experimental results shows that, BPNN-MGEKF improves the positioning accuracy of more than 10% compared to extended Kalman filter, MGEKF and smoothing modified gain extended Kalman filter algorithm, and it is more stable.

Key words: Modified Gain Extended Kalman Filter (MGEKF), Back Propagation Neural Network (BPNN), bearing-only target positioning

摘要： 增益修改的卡尔曼滤波(MGEKF)算法在实际应用时,一般使用带有误差的测量值代替真实值进行增益修正计算,导致修正结果也被误差污染。针对这一问题,提出一种基于反向传播神经网络(BPNN)改进的MGEKF算法,该算法使用训练后的神经网络代替MGEKF的增益修正函数。该算法在网络训练阶段,以实际测量值作为神经网络的输入,真实值修正后的结果作为训练目标;在实际应用中,使用网络的输出修正卡尔曼增益。针对移动单站只测向目标定位问题进行了实验,实验结果表明:该算法与扩展卡尔曼滤波(EKF)、MGEKF、平滑增益修改的卡尔曼滤波(sMGEKF)算法相比:定位精度至少提升10%,并且有更强的稳定性。

关键词: 增益修改卡尔曼滤波, 反向传播神经网络, 只测向目标定位

CLC Number:

TP393

LI Shibao, CHEN Ruixiang, LIU Jianhang, CHEN Haihua, DING Shuyan, GONG Chen. Improved modified gain extended Kalman filter algorithm based on back propagation neural network[J]. Journal of Computer Applications, 2016, 36(5): 1196-1200.

李世宝, 陈瑞祥, 刘建航, 陈海华, 丁淑妍, 龚琛. 基于反向传播神经网络改进的增益修改卡尔曼滤波算法[J]. 计算机应用, 2016, 36(5): 1196-1200.

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Improved modified gain extended Kalman filter algorithm based on back propagation neural network

基于反向传播神经网络改进的增益修改卡尔曼滤波算法

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