Please submit manuscripts in either of the following two submission systems

    ScholarOne Manuscripts

  • ScholarOne

    • 勤云稿件系统

  • 登录

Search by Issue

  • 2024 Vol.31
  • 2023 Vol.30
  • 2022 Vol.29
  • 2021 Vol.28
  • 2020 Vol.27
  • 2019 Vol.26
  • 2018 Vol.25
  • 2017 Vol.24
  • 2016 vol.23
  • 2015 vol.22
  • 2014 vol.21
  • 2013 vol.20
  • 2012 vol.19
  • 2011 vol.18
  • 2010 vol.17
  • 2009 vol.16
  • No.1
  • No.2

Search by Keywords

  • Search by Title
  • Search by Keywords
  • Search by Abstract
  • Search by Author's Chinese Name
  • Search by Author's English Name
  • Search by Fund

News & AnnouncementMORE

Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

期刊网站二维码
微信公众号二维码
Related citation:TANG Xiao-jun,WEI Jian-li,CHEN Kai.Square-root divided difference Rauch-Tung-Striebel smoother[J].Journal of Harbin Institute Of Technology(New Series),2012,19(5):36-40.DOI:10.11916/j.issn.1005-9113.2012.05.006.
【Print】   【HTML】   【PDF download】   【View/Add Comment】  【Download reader】  【 Close 】
←Previous|Next→ Back Issue    Advanced Search
This paper has been: browsed 2039times   downloaded 1160times 本文二维码信息
码上扫一扫！
Shared by: Wechat More
Font:larger+|default|smaller-
Square-root divided difference Rauch-Tung-Striebel smoother
Author NameAffiliation
TANG Xiao-jun School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China 
WEI Jian-li School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China 
CHEN Kai School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China 
Abstract:
A square-root version of the divided difference Rauch-Tung-Striebel (RTS) smoother is proposed in this paper. The square-root variant essentially propagates the square roots of the covariance matrices and can consistently improve the numerical stability because all the resulting covariance matrices are guaranteed to stay positive semi-definite. Furthermore, the square-root form ensures reliable implementation in an embedded system with fixed or limited precision although it is algebraically equivalent to the standard form. The new smoothing algorithm is tested in a challenging two-dimensional maneuvering target tracking problem with unknown and time-varying turn rate, and its performance is compared with that of other de-facto standard filters and smoothers. The simulation results indicate that the proposed RTS smoother markedly outperforms the associated filters and gives slightly smaller error than an unscented-based RTS smoother.
Key words:  Gaussian Rauch-Tung-Striebel smoother  square-root divided difference filter  fixed-interval smoothing  state estimation
DOI：10.11916/j.issn.1005-9113.2012.05.006
Clc Number:O211.64
Fund:

LINKS

Copyright © The Editorial Department of Journal of Harbin Institute of Technology
Address: 92 West Dazhi Street, Nan Gang District, Harbin, Heilongjiang Province, China Postcode: 150001
(C)2015 JOURNAL OF HIT ALL RIGHTS RESERVED. ICP. 0000423255