Positioning system having smoothed kalman filter update

摘要

A method and a system of determining a position of a mobile machine are disclosed. According to certain embodiments, the system may include a first sensor configured to generate a first signal indicative of a parameter of the mobile machine. The system may also include a second sensor configured to generate a second signal indicative of a pose of the mobile machine. The system may further include a controller in communication with the first and second sensors. The controller may be configured to generate one or more estimated poses of the mobile machine based on the first signal. The controller may further be configured to update each estimated pose with a fraction of a correction. The correction may be determined, based on the second signal, in a measurement update stage of a Kalman filter.