抑制 Kalman 滤波发散的方法及其进展

The Method of Restraining the Kalman Filtering Divergence and Its Progress

探讨了抑制Ｋａｌｍａｎ滤波发散的若干方法，抑制滤波发散的算法，对实际应用及改进Ｋａｌｍａｎ滤波，提高状态估计精度是有益的。

? In this paper,a few methods for restraining the Kalman filtering divergence are discussed,and the corresponding methods of calculation are put forward,which are helpful for the practical use and the improvement of Kalman filter,as well as for the improvement of statrs accuracy.