非线性滤波方法及其性能比较

摘要

Aiming at the problem of nonlinear estimation,the procedures of extended Kalman filter,unscented Kalman filter and cubature Kalman filter have been described,taking the attitude estimation problem of the micro aerial vehicle as an example,the estimation accuracy and the running efficiency of the nonlinear filtering methods are compared and analyzed, which provides a reference for the actual processing of the nonlinear estimation problem.%针对非线性估计问题，对扩展卡尔曼滤波、无迹卡尔曼滤波以及容积卡尔曼滤波等常见非线性滤波方法的一般原理和步骤进行了描述，以微小型飞行器姿态估计问题为例，对非线性滤波方法的估计精度和运行效率进行了对比分析，为实际的非线性估计问题的处理提供了参考。