1
绗簲璁蹭綔涓?/p>
1.
闂鎻忚堪锛?/p>
鑰冭檻鏃朵笉鍙樼郴缁燂細
飪?/p>
飪?/p>
飪?/p>
飥?/p>
飥?/p>
飦?/p>
飥?/p>
飥?/p>
飥?/p>
飥?/p>
vk
X
H
Z
X
X
k
k
k
k
k
k
k
k
k
飦?/p>
飦?/p>
,
1
1
鍏朵腑
飪?/p>
飪?/p>
飪?/p>
飪?
飪?
飪?/p>
飪?/p>
飪?/p>
飪?/p>
飪?/p>
飥?/p>
飦?/p>
飪?/p>
飪?/p>
飪?/p>
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飪?/p>
飪?/p>
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飪?/p>
飥?/p>
1
5
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0
125
.
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,
1
0
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5
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0
1
0
125
.
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飦?/p>
閲忔祴鐭╅樀
H
= [1 0 0]
锛岀郴缁熷櫔澹版柟宸樀
Q
= [100]
锛岄噺娴嬪櫔澹版柟宸樀
R
= [200]
锛屽垵
濮嬬姸鎬佷及璁?
= [100 0 0],
= diag{45, 500, 1}
銆傝姹傜紪鍒朵豢鐪熺▼搴忛獙璇?
Kalman
婊ゆ尝锛岃姹傝緭鍑猴細
1.
浠ュ弸濂界殑浜烘満浜や簰鏂瑰紡锛岄�夋嫨杩囩▼鍣０涓哄潎鍖�鍒嗗竷鎴栭珮鏂垎甯?/p>
2.
鍏佽婊ゆ尝缁堟鏃堕棿鍦?/p>
20-100
姝ヤ箣闂翠换鎰忚缃?/p>
3.
鍒嗗埆杈撳嚭鐘舵�佸悇缁寸殑棰勬祴鏂瑰樊銆佷及璁℃柟宸洸绾?/p>
4.
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5.
缁忚繃
100
娆′豢鐪燂紝缁熻鍑虹姸鎬佸悇缁寸殑棰勬祴涓庝及璁＄殑鏍锋湰鏂瑰樊鏇茬嚎
2.
Kalman
婊ゆ尝鍣ㄥ師鐞嗕笌绠楁硶鎻忚堪
2.1 Kalman
婊ゆ尝鍣ㄥ師鐞?/p>
瀵逛簬闂
1
鎻忚堪鐨勫甫鏈夐噺娴嬪櫔澹颁互鍙婄姸鎬佸櫔澹扮殑绂绘暎鏃朵笉鍙樼郴缁燂紝璁捐婊ゆ尝
鍣ㄦ弧瓒充及璁¤宸?/p>
鏍规嵁姝ｄ氦鍘熺悊锛岄噺娴?/p>
zk
+1
宸茬煡锛?/p>
xk
+1
鍦?/p>
zk
+1
鐨勬浜ゆ姇褰辩瓑浠蜂簬宸茬煡
b
鏃?/p>
a
鐨勭嚎鎬?/p>
鏈�灏忔柟宸及璁°�備篃灏辨槸璇达紝瀵逛簬鎵�姹傜洰鏍?
婊¤冻锛?/p>
閲忔祴浼拌鏂瑰樊鍜岀姸鎬侀噺娴嬪崗鏂瑰樊鍒嗗埆涓猴細