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稀疏规则是扩展信息滤波性能的关键。在现有的稀疏规则中,精确稀疏扩展信息滤波(ESEIF)的稀疏规则有较优的性能,但有其适用上的缺陷。通过将稀疏扩展信息滤波(SEIF)与精确稀疏扩展信息滤波(ESEIF)的稀疏规则结合起来,提出了一种组合的稀疏规则。该组合规则能适用于任何的探索环境,还充分利用了ESEIF稀疏规则的性能优势。最后,通过大量的Monte-Carlo仿真实验,验证了该方法的有效性。
Sparse rules are the key to extending the performance of information filtering. Among the existing sparse rules, sparse rules of Exact Sparse Extended Information Filter (ESEIF) have better performance, but have some disadvantages. By combining sparse extended information filtering (SEIF) with sparse rules of precision sparse extended information filtering (ESEIF), a combined sparse rule is proposed. The combination rules apply to any exploration environment and take full advantage of the performance benefits of the ESEIF sparse rules. Finally, a large number of Monte-Carlo simulation experiments verify the effectiveness of this method.