We introduce adaptive - grid method to settle this problem . we divide each dimension into a fix interval and join the dense interval to dense part . at the boundary of the each dense part , boundary is adjusted by dividing a smaller interval 针对上述问题论文引入了自适应的网格划分方法,通过在一维的情况下预先分割区间,然后找出密集分割区间并对分界进行调整来得到密集区间,最后把这些密集区间作为划分网格的依据。
2 based on the optimal filtering algorithm , the indirect algorithm of the optimal fixed interval smoothing is deduced with the correlation of system and observation noise at the same time . the operation quantity is reduced through the recursive expression of the indirect variable , so the algorithm is more practical 第二,利用滤波算法的结果,推导出了这种系统在加性噪声同时刻相关时状态最优固定域平滑估计的间接算法,通过引入中间变量的递推表达,减少了运算量,使算法更实用。