CAJ | 학술논문

对于离线处理或实时性要求不高的组合导航系统,平滑作为一种离线估计算法,通过利用更多的量测信息,能够获得优于滤波估计的结果.固定区间平滑是利用某一时间区间内的所有量测信息对所有状态进行估计的一种算法,在组合导航系统中应用广泛.该算法主要包括适用于线性系统的Rauch-Tung-Striebel 平滑算法和双滤波器平滑算法,以及基于上述两类平滑方式的非线性平滑估计算法.针对组合导航系统,详细阐述了这几类固定区间平滑算法并分析了各自的优缺点.
대우리선처리혹실시성요구불고적조합도항계통,평활작위일충리선고계산법,통과이용경다적량측신식,능구획득우우려파고계적결과.고정구간평활시이용모일시간구간내적소유량측신식대소유상태진행고계적일충산법,재조합도항계통중응용엄범.해산법주요포괄괄용우선성계통적Rauch-Tung-Striebel 평활산법화쌍려파기평활산법,이급기우상술량류평활방식적비선성평활고계산법.침대조합도항계통,상세천술료저궤류고정구간평활산법병분석료각자적우결점.
As a post-processing estimation method, smoother is superior to optimal state estimation algorithm for the integrated navigation systems by off-line processing or with low real-time requirement, since the smoother uses more measurements than the filter. Fix-interval smoothing estimates the state after processing all of the measurements in the interval, and it has been widely used in the integrated navigation systems. The Rauch-Tung-Striebel smoother and the two-filter smoother for the linear systems are mainly expounded, and the nonlinear smoothing methods based on the formulations of those two smoothers are also introduced in this review. Moreover, the advantages and disadvantages as well as the applications of these smoothing methods are summarized.