卡尔曼滤波及其应用

卡尔曼滤波及其应用(论文8000字)
摘要：数据滤波的本质是一种数据处理技术，它能够最大程度去除各种噪声来使最终数据逼近真实数据,卡尔曼滤波是噪声处理的利器。本文简单地对卡尔曼滤波的原理进行了介绍，并选取介绍了该方法在房间温度测量、自由落体目标跟踪、船舶GPS导航定位等三个实例中的应用。更改系统的初始数据进行对比实验，结果显示测量误差远远高于卡尔曼滤波误差，因而卡尔曼滤波在处理噪声，减少测量结果与真实值之间误差方面具有非常显著的效果。
关键词：卡尔曼滤波；噪声；测量误差；卡尔曼滤波误差；

Application of Kalman Filtering
Abstract：The nature of data filtering is a data processing technique that maximizes the removal of various noise to approximate the final data, and Kalman filtering is a weapon for noise processing. In this paper, the principle of Kalman filter is introduced, and the application of the method in room temperature measurement, free fall target tracking, ship GPS navigation and positioning is introduced. The results show that the measurement error is much higher than the Kalman filter error. Therefore, Kalman filter has a very significant effect in dealing with noise and reducing the error between the measured result and the real value.
Key words：Kalman filter; noise; measurement error; Kalman filter error;
 

目录
1.引言.......................................................4
2.卡尔曼滤波原理.............................................4
2.1 Bayes基本观点...............................................................4
2.2.卡尔曼滤波基本原理..........................................................5
3.卡尔曼滤波的应用............................................9
3.1 温度测量....................................................................9
3.2自由落体目标跟踪............................................................12
3.3 船舶GPS导航定位............................................................16
4.结束语.................................................19   
参考文献.....................................................19
致谢.........................................................21