| 基于联邦卡尔曼滤波器的车载GPS/DR信息融合 |
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| 引用本文： | 朱虹,关桂霞,关永.基于联邦卡尔曼滤波器的车载GPS/DR信息融合[J].计算机工程与设计,2008,29(20). |
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| 作者姓名： | 朱虹 关桂霞 关永 |
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| 作者单位： | 首都师范大学信息工程学院,北京,100037 |
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| 基金项目： | 北京市自然科学基金，北京市高校中青年骨干教师基金 |
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| 摘 要： | 车栽GPS/DR组合导航系统中,需要把不同特性的传感器信息进行融合,实现系统整体状态的最优估计.设计了GPS/DR信息融合的联邦卡尔曼滤波器,局部滤波器分另q处理GPS和DR传感器信息,主滤波器进行信息融合,并对局部滤波器进行信息分配和重置.克服了单独使用GPS或DR时产生的系统失效、累积误差大等问题.仿真试验结果表明:GPS/DR组合定位比GPS单独定位具有更高的定位精度和客错能力.
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| 关 键 词： | 信息融合 联邦滤波器 组合定位 定位精度 容错性 |
Vehicle GPS/DR information fusion based on Federal Kalman filter |
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| ZHU Hong,GUAN Gui-xia,GUAN Yong.Vehicle GPS/DR information fusion based on Federal Kalman filter[J].Computer Engineering and Design,2008,29(20). |
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| Authors: | ZHU Hong GUAN Gui-xia GUAN Yong |
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| Affiliation: | ZHU Hong,GUAN Gui-xia,GUAN Yong(College of Information Engineering,Capital Normal University,Beijing 100037,China) |
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| Abstract: | The information from the different sensors of GPS/DR integrated navigation system needs to be fused in order to implement the optimal evaluation of global states.The federal Kalman filter is designed to fuse GPS and DR information.Two local filters process GPS and DR data respectively,and main filter is responsible for data fusion and reset to local filters.The federal filter solves some prob-lems such as system unavailability,accumulative errors with GPS alone or DR alone.The simulation turns out that the ... |
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| Keywords: | information fusion federal filter integrated positioning positioning accuracy credibility |
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