A nonlinear two-filter smoothing estimation method based on DD2 filter for land vehicle POS
A nonlinear two-filter smoothing estimation method based on DD2 filter for land vehicle POS
复制标题
基于DD2滤波器的陆地车辆POS非线性双滤波器平滑估计方法
DOI：
10.1088/1361-6501/aaf01c
复制
发表时间：
2018-12
影响因子：
2.4
通讯作者：
Li Yiqi
中科院分区：
文献类型：
--
作者：
Li Jianli;Zou Siyuan;Li Yiqi
车载定位系统(POSS)在地面测量中发挥着重要的作用。为了解决后处理过程中的非线性误差问题，获得高精度的运动参数，提出了一种基于二阶分割差分滤波(DD2)的车载POS非线性双滤波平滑估计方法。采用基于Stirling插值法的DD2算法来解决前向滤波中的非线性问题。在反向滤波中，采用信息滤波独立估计状态和误差协方差矩阵。然后将前向和后向结果结合起来，既充分利用了所有的测量信息，又利用了更多的模型信息。因此，可以获得更准确的POS估计结果。最后进行了实验，结果表明，该方法可以有效地提高车载POS的姿态精度。
Land vehicle position and orientation systems (POSs) are playing an important role in ground surveying. In order to solve the problem of nonlinear error and obtain high-precision motion parameters in post-processing, a nonlinear two-filter smoothing estimation method based on second-order divided difference filter (DD2) for land vehicle POS is proposed. The DD2, based on Stirling interpolation, is applied to solve the nonlinear problem in the forward filter. The information filter is adopted to independently estimate the states and error covariance matrices in the backward filter. Then the forward and backward results are combined, which makes full use of all measurement information and also uses more model information. Therefore, more accurate estimation results for the POS can be obtained. Finally, an experiment is carried out, and the results show that the attitude precision of a land vehicle POS can be effectively improved through the proposed method.
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影响因子：
1.7
作者：
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通讯作者：
Bingnan Wang;M. Xiang;Longyong Chen
影响因子：
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作者：
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通讯作者：
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