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基于非线性最小二乘准则的两步最优估计方法(Two-step optimal estimation,TSE)在第二步中需要计算雅克比矩阵的逆,且其逆的计算经常是不存在的,从而导致滤波结果发散。因此,为改进TSE算法的稳定性,在分析了TSE算法的原理的基础上,提出了改进的TSE算法,并确定了TSE算法的中间状态向量和转换矩阵的选取原则。通过非线性测量光电跟踪系统的仿真实验验证了所提出的改进的TSE算法可以保证算法的稳定性、中间状态向量和转换矩阵的选取原则的正确性,同时也证明了此算法的性能优于扩展卡尔曼滤波和U卡尔曼滤波。
Two-step optimal estimation (TSE) based on the non-linear least squares criterion In the second step, we need to calculate the inverse of the Jacobian matrix, and its inverse calculation often does not exist, resulting in filtering The results diverge. Therefore, to improve the stability of the TSE algorithm, an improved TSE algorithm is proposed based on the analysis of the principle of the TSE algorithm, and the principle of choosing the intermediate state vector and the conversion matrix of the TSE algorithm is determined. The simulation experiment of nonlinear tracking electro-optical tracking system verifies that the proposed TSE algorithm can ensure the stability of the algorithm, the correctness of the selection of the intermediate state vector and the conversion matrix, and also proves that the performance of this algorithm is better than the extension Kalman filter and U-Kalman filter.