| 车载GPS／DR／地图匹配组合导航系统的自适应联合卡尔曼滤波模型 |
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| 引用本文： | 房建成,万德钧.车载GPS／DR／地图匹配组合导航系统的自适应联合卡尔曼滤波模型[J].控制与决策,1999,14(5):448-452. |
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| 作者姓名： | 房建成 万德钧 |
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| 作者单位： | [1]北京航空航天大学第五研究室 [2]东南大学仪器系 |
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| 基金项目： | 航空科学基金,江苏省应用基础研究基金 |
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| 摘 要： | 首次设计了实现车载ＧＰＳ／ＤＲ／地图匹配组合导航系统最优综合的联合卡尔曼滤波器，给出了滤波算法，并提出一种自适应联合卡尔曼滤波器结构及其算法。理论分析及计算机仿真结果均表明，应用该自适应联合卡尔曼滤波器可大大提高车载ＧＰＳ／ＤＲ／地图匹配组合导航系统的定位精度及容错能力。
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| 关 键 词： | 组合导航系统 地图匹配 车辆 |
An Adaptive Federated Kalman Filter Model for GPS/DR/Map Matching Integrated Navigation System in Land Vehicle |
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| Fang Jiancheng,Shen Gongxun.An Adaptive Federated Kalman Filter Model for GPS/DR/Map Matching Integrated Navigation System in Land Vehicle[J].Control and Decision,1999,14(5):448-452. |
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| Authors: | Fang Jiancheng Shen Gongxun |
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| Abstract: | A federated Kalman filter mechanization to realize the optimal synthesis of GPS/DR/Map Matching integrated land navigation system is firstly designed, and its algorithm is presented also. Moreover, an adaptive federated Kalman filter mechanization and its algorithm are creatively proposed for this system. The theoretical analysis and computer simulation results both show that, by using this adaptive federated Kalman filter, the positioning accuracy and fault-tolerance capability of the GPS/DR/Map Matching integrated navigation system can be greatly improved. |
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| Keywords: | GPS dead reckonning integrated navigation Kalman filtering adaptive algorithm |
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