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《Journal of Projectiles,Rockets,Missiles and Guidance》 2005-S5
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A Method of Preventing Divergence of EKF

WANG Tao XU De-min JI Wei WANG Bo (College of Marine,Northwestern Polytechnical University,Xi'an 710072,China)  
In this paper the divergence of SITAN by EKF is analyzed in short.It is pointed out the key reason.Accord- ing to this.this paper puts forward to the method of extended kalman filter which combines"freeze"gain matrix with weighting gain matrix,and revises this navigation system.The simulation result indicates this method can prevent di- vergence effectively.
【CateGory Index】: V448.2
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