基于因子图的状态估计方法运算实时性研究CSCD

对因子图算法及其理论基础进行研究,使用消元算法分析了一元观测因子图模型的稀疏结构,得到了一种适用于该模型的增量推断算法;并对固定滞后平滑算法进行了研究,实现了滑窗在该增量推断算法中的应用;最后通过仿真验证了基于因子图的状态估计方法的估计能力、该增量推断算法在求解一元观测因子图模型的状态估计问题时运算速度的提升能力,以及滑窗维持该增量推断算法运算速度稳定的能力。

Research on Real-time Operation of State Estimation Method Based on Factor Graph

The factor graph algorithm and its theoretical basis are studied, the elimination algorithm is used to analyze the sparse structure of the unary observation factor graph model, and the idea of incremental inference is combined to get an incremental inference algorithm suitable for the model. The fixed lag algorithm is researched, and the sliding window is applied in the incremental inference algorithm. Finally, simulation verifies the estimation ability of the state estimation method based on the factor graph, and it is also verified that the incremental inference algorithm is useful for increasing the calculation speed in solving the state estimation problem of the unary observation factor graph model, and the sliding window is able to maintain the stability of the calculation speed of the incremental inference algorithm.