【作者】 赵龙； 陈哲；

【Author】 ZHAO Long, CHEN Zhe (School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083)

【机构】 北京航空航天大学自动化科学与电气工程学院；

【摘要】 在对最小二乘(LS)估计进行数学描述的基础上,建立了一种LS状态估计的迭代方程。定性讨论了LS状态估计与Kalman滤波器的关系及优缺点,通过在INS／GPS组合系统的仿真试验中进一步比较两种算法。仿真结果表明,LS状态估计的精度明显比Kalman滤波精度高,有效地克服了Kalman滤波存在的局限性。更多还原

【Abstract】 On the basis of mathematical description for least square (LS) estimation, an iterative equation for LS state estimation is established. The relation between LS state estimation and Kalman filtering are discussed. These two methods are compared in simulation experimentation for inertial navigation system/globe positioning system (INS/GPS) integrated system. The simulating results indicate that the LS state estimation has better estimation accuracy than Kalman filtering, which overcomes some limitation of Kalman filtering.更多还原