CAJ | 학술논문

提出一种新的建议分布函数的设计方案,即将扩展Kalman滤波算法与Rauch-Tung-Streibel (RTS)最优固定区间平滑算法融合,产生建议分布函数.与用扩展Kalman滤波产生建议分布函数的粒子滤波方法相比,该方法可更准确地给出状态的估计结果,从而使得系统具有更好的稳健性.通过对GPS/DR组合导航系统的试验,验证了该方法的有效性.
제출일충신적건의분포함수적설계방안,즉장확전Kalman려파산법여Rauch-Tung-Streibel (RTS)최우고정구간평활산법융합,산생건의분포함수.여용확전Kalman려파산생건의분포함수적입자려파방법상비,해방법가경준학지급출상태적고계결과,종이사득계통구유경호적은건성.통과대GPS/DR조합도항계통적시험,험증료해방법적유효성.
As it is quite important to choose a reasonable proposal distribution function for the particle filtering,a new proposal distribution function is designed. This scheme fuses the extended Kalman filter and the RTS fixed interval smoothing to generate the proposal distribution function. Compared to the particle filtering with only the proposal distribution function of extended Kalman filter, this method can give more accurate estimation results, and make the system more robust. An experiment for the GPS/DR integrated simulation system validates the effectiveness of the new approach.