主要分析了Sage-Husa自适应卡尔曼滤波器,通过改进自适应滤波过程中的系统噪声和量测噪声的方差估计方法,使得能够抑制Sage-Husa自适应滤波的发散现象。通过与卡尔曼滤波器的滤波结果进行比较分析,来验证改进后的自适应滤波器的效果。经过实验仿真后,改进后的Sage-Husa自适应滤波的精度有所提高,并且没有出现发散现象。

The main analysis is the Sage-Husa adaptive Kalman filter. With improved methods of system noise and measurement noise variance estimation in the filtering process, the divergence phenomenon in Sage-Husa adaptive filter is restrained. Through analysis on comparison with the result of Kalman filter, the effect of the improved adaptive filter was tested. Based on experiment and simulation, the improved adaptive filter precision was improved, and the divergence phenomenon of improved adaptive filter didn't appear.