Robust Estimation for Trajectory Fusion Based on Spline Restraint

To improve the precision of trajectory fusion process,an estimation method based on robust estimation was presented.In this method,different methods were designed to separate all kinds of error according to their characteristics for trajectory process,and abnormal value modification and self-adaptive adjustment of systemic error estimation and spline nodes were realized.The calculation precision can be improved by using the modified spline function and observation vectors to calculate trajectory again.The feasibility and practicability of this method were proved by data simulation.The result shows that this method can resist the effects of abnormal observation,systemic error and spline approach error on calculation result of trajectory.