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此处改进扩展的卡尔曼滤波器的目的,是利用取自运动平台的测位数据,来估算固定目标坐标。这种改进的滤波器有效地改善了数据搜集初始时的目标坐标估值精度,而在其他情况下,其特性就远不是最优的。改进是针对非线性部分,并且在某些情况下,能够应用引入一振幅随时间而衰减的高频颤动信号来完成,该信号在扩展的卡尔曼滤波器中加在输出非线性之前。利用这种方法,扩展的卡尔曼滤波器还可以在改善非线性设计和选择适宜的坐标基点时给出李亚普诺夫函数衰减率的界限。
The purpose of improving the extended Kalman filter here is to estimate the fixed target coordinates using the position data taken from the motion platform. This improved filter effectively improves the accuracy of the target coordinate estimation at the beginning of data collection, whereas in other cases its characteristics are far from optimal. The improvement is for the non-linear part and, in some cases, can be done by applying a dither signal that introduces an amplitude decay over time that precedes the output non-linearity in the extended Kalman filter. In this way, the extended Kalman filter can also give the Lyapunov function attenuation rate limit when improving the nonlinear design and choosing the appropriate coordinate base point.