【摘要】 目的　将交互多模型方法引入到两级估计中，提高交互式加速度补偿算法对系统位置和速度的估计精度． 方法　以非线性量测方程为依据，完成了混合坐标系下的状态估计，提出一种在混合坐标下完成状态估计的广义交互式加速度补偿算法． 结果　仿真结果表明通过改变极坐标下的观测方程可以提高交互式加速度补偿算法的估计精度． 结论　距变率量测和两级估计的引入，显著地提高了位置和速度的估计精度，与其他多模型方法相比，计算量上具有明显优势．更多还原

【Abstract】 Aim Interactive multiple model(IMM) algorithm was introduced into two? stage estimation to improve the estimating accuracy for system position and velocity.Methods The state estimation was carried out in mixed coordinates according to the nonlinear measure equation, a generalized interactive acceleration compensation(IAC) algorithm in mixed coordinate was presented. Results Simulation result shows the estimation accuracy is improved through changing measure equation in polar coordinates. Conclusion The estimation accuracy for position and velocity estimation, has been improved greatly, and the proposed algorithm has the advantage of less calculating time comparing with other multiple model methods.更多还原