输入过程:
[
y
1
,
y
2
,
.
.
.
,
y
n
]
[y_1,y_2,...,y_n]
[y1,y2,...,yn]
已知参数:
非线性状态向量函数=
a
n
(
x
n
)
a_n(x_n)
an(xn)
非线性测量向量函数=
b
n
(
x
n
)
b_n(x_n)
bn(xn)
过程噪声向量的协方差矩阵=
Q
w
,
n
Q_{w,n}
Qw,n
测量噪声向量的协方差矩阵=
Q
v
,
n
Q_{v,n}
Qv,n
计算:n=1,2,3…
G
n
=
P
n
,
n
−
1
B
n
T
[
B
n
P
n
,
n
−
1
B
n
T
+
Q
v
,
n
]
G_n = P_{n,n-1} B_n ^T[B_nP_{n,n-1}B_n^T + Q_{v,n}]
Gn=Pn,n−1BnT[BnPn,n−1BnT+Qv,n]
a
n
=
y
n
−
b
n
(
x
^
n
∣
n
−
1
)
a_n = y_n-b_n(\hat x_{n|n-1})
an=yn−bn(x^n∣n−1)
x
^
n
∣
n
=
x
^
n
∣
n
−
1
+
G
n
a
n
\hat x_{n|n}=\hat x_{n|n-1} + G_n a_n
x^n∣n=x^n∣n−1+Gnan
x
^
n
+
1
∣
n
=
a
n
(
x
^
n
∣
n
)
\hat x_{n+1|n} = a_n(\hat x_{n|n})
x^n+1∣n=an(x^n∣n)
P
n
∣
n
=
P
n
∣
n
−
1
−
G
n
B
n
P
n
∣
n
+
1
P_{n|n} = P_{n|n-1}-G_nB_nP_{n|n+1}
Pn∣n=Pn∣n−1−GnBnPn∣n+1
P
n
+
1
∣
n
=
A
n
+
1
,
n
P
n
∣
n
A
n
+
1
,
n
T
+
Q
w
,
n
P_{n+1|n} = A_{n+1,n}P_{n|n}A_{n+1,n}^T+Q_{w,n}
Pn+1∣n=An+1,nPn∣nAn+1,nT+Qw,n
扩展卡尔曼滤波算法
最新推荐文章于 2024-08-17 12:13:31 发布