基于非线性状态估计的常见滤波算法性能研究

Research on Performances of the Regular Filtering Algorithms for Nonlinear State Estimation

对于车载组合导航定位系统,当姿态误差角较大或车辆机动性强时,系统状态方程和量测方程皆为非线性,为了提高导航定位精度,需要利用非线性滤波进行状态估计。本文从原理上阐述了四种常见的非线性滤波算法,并研究了各算法的性能差异。

As for the vehicle integrated navigation and positioning system, when the attitude error angles are large orthe vehicle maneuvers quickly, the system＇ s state equation and measurement equation are nonlinear; so nonlinear filteringalgorithms should be used according in order to improve the accuracy of navigation and positioning. Four regularnonlinear filtering algorithms are stated in this paper, and their different performance is studied.