Fixed-interval smoother and its applications in integrated navigation system
Jiancheng Fang · Journal of Chinese Inertial Technology · 2012
As a post-processing estimation method,smoother is superior to optimal state estimation algorithm for the integrated navigation systems by off-line processing or with low real-time requirement,since the smoother uses more measurements than the filter.Fix-interval smoothing estimates the state after processing all of the measurements in the interval,and it has been widely used in the integrated navigation systems.The Rauch-Tung-Striebel smoother and the two-filter smoother for the linear systems are mainly expounded,and the nonlinear smoothing methods based on the formulations of those two smoothers are also introduced in this review.Moreover,the advantages and disadvantages as well as the applications of these smoothing methods are summarized.