摘要
鉴于目前固定区间平滑算法所存在的问题,本文根据Rauch—Tung—Striebd平滑公式,提出了一种U—D分解形式的固定区间平滑新算法,这种方法既有良好的数值稳定性和可靠性,又具有计算量小的优点,它比Bierman序列方法和Keigo.Watanabe的前向平滑方法都有效得多。此外,本文对状态和偏差的同时平滑进行了讨论,并把它用于实际飞行状态的估计,所得结果较理想。
In this paper,a new computationally efficient U-D factorization-based fixed-interval smoother is developed by using Rauch-Tung-Striebel smoother. This algorithm is of both numerical stable and computationally efficient since numerically superior modified weighted Gram-Schmidt method is used and computationally burdensome covariance matrix inversion does not involved. The results of the comparison of operation counts show that the method presented in this paper is much more efficient than Bierman rank 2 or Keigo. Watanabe forward-pass smoothing algorithm. Moreover,state and bias smoothing is disccussed and this method has been applied to the determination of flight states and instrumentation errors.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1991年第1期101-106,共6页
Control Theory & Applications
关键词
U-D分解
飞行
状态估计
平滑算法
fixed-interval smoother (State estimation
kalman filter
flight test
