The application of R-T-S smoothing algorithm in the post-processing of the integrated navigation

Integrated navigation system usually uses Kalman filter to make it possible for error compensation. In order to improve the precision of navigation and the stability of data, we introduce the R-T-S (Rauch-Tung-Striebel) optimal fixed-interval smoothing into the post-processing of data. On the basis of the forward Kalman filter, we add the backward information filter to the system and use the measured data to verify the algorithm. The results show that compared with the traditional Kalman filter, the R-T-S optimal fixed-interval smoothing can not only improve the precision of the position and posture but can also improve the precision of navigation significantly in case of lock-lose, making it possible as an effective way of data processing.