关键词: 固定点, Rauch-Tung-Striebel平滑, 容积变换

Abstract: With the precision demand of a fixed moment at the interval of observation time in target tracking application, this paper presents a target tracking algorithm which is applicable to nonlinear model—fixed point cubature Rauch-Tung-
Striebel smoother. The algorithm combines the traditional cubature Rauch-Tung-Striebel smoother which is applied to nonlinear state-space model with the fixed point strategy in Gaussian optimal smoothing, and it improves the precision of fixed point estimate effectively. An example is used to demonstrate the new algorithm’s performance.

Key words: fixed point, Rauch-Tung-Striebel smoother, cubature transformation