The invention provides an unmanned aerial vehicle
pose estimation method based on credibility weighted strong tracking filtering. According to the method, the posterior error
covariance after actual strong tracking filtering iteration and the theoretical true posterior
covariance of
algorithm iteration are utilized to define a
trust factor used for describing filtering deviation under
noise uncertainty, the
trust factor acts on self-adaptive calculation of a
forgetting factor, then a time-varying
fading factor is corrected through calculation of an innovation error
covariance, and therefore the filtering deviation under
noise uncertainty is corrected. And tracking
estimation under the condition of
noise uncertainty is realized. Compared with traditional strong tracking series filtering, the method can quantify the uncertainty of noise and relieve experience dependence of forgetting factors. Meanwhile, the time-varying
fading factor acts on the
process noise covariance, and compared with a traditional action mode, the method has better
interpretability. When the residual error and the
fading factor are calculated, compared with the traditional fixed
forgetting factor and the
trust factor, the self-adaptive adjustment of the
forgetting factor can be realized, the performance error is reduced, and meanwhile, the artificial experience assignment is reduced.