卡尔曼滤波器参数分析与应用方法研究

ON ANALYSIS AND APPLICATION APPROACH FOR KALMAN FILTER PARAMETERS

介绍卡尔曼滤波器及其各种衍生方法。首先给出卡尔曼滤波器的算法流程以及所有参数的含义,并对影响滤波效果的五个主要参数进行了讨论。然后通过仿真实验研究不同的参数取值对于卡尔曼滤波的影响。最后总结在不同应用场景下使用卡尔曼滤波器的宗旨和要点。

Kalman filter and its derivative approaches are introduced in this paper.At first,the algorithmic process of Kalman filter and all the parameters are presented.Then five important parameters affecting the filtering effect are discussed.By means of simulative experiment,the impacts of different parameter’s values on Kalman filter are studied.In the end,the purpose and the key points of the use of Kalman filter in different application scenes are concluded.