| 卡尔曼滤波实现车载GPS/DR组合导航 |
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| 引用本文： | 孙希延,纪元法,施浒立.卡尔曼滤波实现车载GPS/DR组合导航[J].现代电子技术,2006,29(11):149-152. |
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| 作者姓名： | 孙希延 纪元法 施浒立 |
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| 作者单位： | 1. 中国科学院,国家天文台,北京,100012;桂林电子工业学院,广西,桂林,541004;中国科学院,研究生院,北京,100039
2. 中国科学院,国家天文台,北京,100012 |
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| 摘 要： | 陆地车辆是在二维平面内运动的,而在车载GPS接收机和DR组合装置中,测量值是在不同的坐标系中得到的,通过对坐标系转换和测量误差分析得到组合系统的整体状态方程和测量方程,由于这些状态方程和测量方程都是关于状态的非线性函数,用广义卡尔曼滤波器来实现GPS/DR组合导航的实时求解。最后在行驶车辆上采集数据并进行仿真试验,结果表明这种组合系统能够大大提高系统实时定位精度和容错能力。
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| 关 键 词： | GPS DR(Deadreckoning) 广义卡尔曼滤波 组合导航 |
| 文章编号： | 1004-373X（2006）11-149-04 |
| 收稿时间： | 2006-02-15 |
| 修稿时间： | 2006年2月15日 |
Realization for the GPS/DR Integrated Navigation System of Vehicle with Kalman Filter |
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| SUN Xiyan,JI Yuanfa,SHI Huli.Realization for the GPS/DR Integrated Navigation System of Vehicle with Kalman Filter[J].Modern Electronic Technique,2006,29(11):149-152. |
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| Authors: | SUN Xiyan JI Yuanfa SHI Huli |
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| Affiliation: | 1. National Astronomical Observatory, Chinese Academy of Sciences, Beijing, 100012, China ;2. Guilin Institute of Electronic Technology, Guilin, 541004, China; 3. Graduate School, Chinese Acade my of Sciences, Beijing, 100039, China |
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| Abstract: | In this paper,the state equations and measurement equations are provided through the analysis the GPS/DR integrated navigation system of vehicle,coordinate translation and the analysis of measurement errors.Then,those equations are solved with the Extended Kalman Filter(EKF) in real-time because those state and measurement equations are all nonlinear.At last,the simulated experiment is done with the data collected from the running vehicle.Computer simulation results show that,the precision and fault tolerance of the integrated navigation system are improved greatly. |
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| Keywords: | GPS DR(Dead-reckoning) Extended Kalman Filter(EKF) integrated navigation |
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