状态与偏差解耦自适应滤波及应用

在状态与偏差耦滤波的基础上提出了一种自适应滤波算法，这种自适应滤波能在线估计系统的编差与噪声方差。对常值偏差和缓慢变化的偏差都能进行在线估计。由于采用两个卡尔曼滤波器进行计算，计算量比状态扩展自适应卡尔曼滤波器要小得多，特别在偏差量比较多的情况下更能显出其优越性，适合在组合导航中应用。

Separate - bias Adaptive Estimation and Its Applications

In this paper, based on separate - bias estimation we propose a separate - bias adaptive estimator. This method can be used for Oh - line estimation of the biases and noise variances of thesystem and for a set of slowly varying bias, such as states. The computation of the method isperformed with a two - stage Kalman estimator, so it is simple. The method can be used in integrated navigation systems.