| 基于核估计的滤波补偿法 |
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| 引用本文： | 曹轶之,隋立芬,黄贤源.基于核估计的滤波补偿法[J].辽宁工程技术大学学报(自然科学版),2010,29(1). |
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| 作者姓名： | 曹轶之 隋立芬 黄贤源 |
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| 作者单位： | 解放军信息工程大学,测绘学院,河南,郑州,450052 |
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| 基金项目： | 国家自然科学基金资助项目(40974010,40971306,40474007) |
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| 摘 要： | 为了解决Kalman滤波算法进行动态定位时,模型中存在的系统误差使得动态定位结果产生偏差的问题,采用基于核估计的滤波补偿法,在移动的窗口内,利用核估计拟合模型系统误差,修正相应的观测向量和状态预测向量的协方差矩阵估值,以消除系统误差对滤波的影响,推导了利用核估计拟合系统误差的公式。通过一个模拟算例证明了改算法的有效性,而且在滤波过程中不需要对系统误差做任何假设,对开窗窗口的宽度也不敏感。
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| 关 键 词： | 核估计 Kalman滤波 模型系统误差 |
A compensation method of kalman filter based on kernel estimation |
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| CAO Yizhi,SUI Lifen,HUANG Xianyuan.A compensation method of kalman filter based on kernel estimation[J].Journal of Liaoning Technical University (Natural Science Edition),2010,29(1). |
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| Authors: | CAO Yizhi SUI Lifen HUANG Xianyuan |
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| Institution: | Institute of Surveying and Mapping;Information Engineering University of Liberation Army;Zhengzhou 450052;China |
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| Abstract: | In order to solve the problems that the systemic errors existed in the observation model and dynamics model will affect the location accuracy when Kalman filter is used to process the data of dynamic positioning,A compensation method of Kalman filter based on kernel estimation is presented. The systematic errors are fitted by using the kernel estimation within chosen window,subsequently,the covariance matrices of the observations and the predicted states are modified,The estimation formulae and calculation ... |
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| Keywords: | Kernel estimation Kalman filter model systemic errors |
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