Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Nonlinear Fixed-interval Smoother for Off-line Navigation

오프라인 항법을 위한 비선형 고정구간 스무더 설계

  • 유재종 (서울대학교 전기컴퓨터공학부) ;
  • 이장규 (서울대학교 전기컴퓨터공학부) ;
  • 박찬국 (광운대학교 정보제어공학과) ;
  • 한형석 (경원대학교 전기전자공학부)
  • Published : 2002.11.01
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Abstract

We propose a new type of nonlinear fixed interval smoother to which an existing nonlinear smoother is modified. The nonlinear smoother is derived from two-filter formulas. For the backward filter. the propagation and the update equation of error states are derived. In particular, the modified update equation of the backward filter uses the estimated error terms from the forward filter. Data fusion algorithm, which combines the forward filter result and the backward filter result, is altered into the compatible form with the new type of the backward filter. The proposed algorithm is more efficient than the existing one because propagation in backward filter is very simple from the implementation point of view. We apply the proposed nonlinear smoothing algorithm to off-line navigation system and show the proposed algorithm estimates position, and altitude fairly well through the computer simulation.

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References

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