| 基于改进卡尔曼滤波在车辆组合导航中的研究 |
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| 引用本文： | 张心怡,关志伟. 基于改进卡尔曼滤波在车辆组合导航中的研究[J]. 机械与电子, 2019, 37(7): 10-14 |
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| 作者姓名： | 张心怡 关志伟 |
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| 作者单位： | 天津职业技术师范大学机械工程学院,天津,300222;天津职业技术师范大学汽车与交通学院,天津,300222 |
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| 基金项目： | 天津市科技创新平台计划;国家科技重大专项 |
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| 摘 要： | 针对车辆在长时间行驶的状态中,组合导航经常会出现滤波精度不高的问题,提出一种采用遗传算法对卡尔曼滤波器进行在线调节的自适应数据融合方法,根据位置误差系数和卡尔曼滤波器的新息统计信息,实时调整参数值,将卡尔曼滤波器调整到运行过程中的最优状态。通过MATLAB软件对该方法进行仿真试验,模拟INS/GPS组合导航系统运行情况,表明这种方法和传统卡尔曼滤波算法相比较导航精度明显提高。
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| 关 键 词： | 组合导航 卡尔曼滤波 遗传算法 滤波精度 |
Research on Vehicle Integrated Navigation Based on Improved Kalman Filter |
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| ZHANG Xinyi,GUAN Zhiwei. Research on Vehicle Integrated Navigation Based on Improved Kalman Filter[J]. Machinery & Electronics, 2019, 37(7): 10-14 |
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| Authors: | ZHANG Xinyi GUAN Zhiwei |
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| Affiliation: | (School of Mechanical Engineering,Tianjin University of Technology and Education,Tianjin 300222,China;School of Automobile and Transportation,Tianjin University of Technology and Education,Tianjin 300222,China) |
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| Abstract: | Aiming at the problem that during long-time driving the combined navigation often has low filtering precision, an adaptive data fusion method based on genetic algorithm for online adjustment of Kalman filter was proposed. According to position error coefficient and Kalman filter 's statistics of the innovation information, the parameter values were adjusted in real time, then the Kalman filter was adjusted to the optimal state. The INS/GPS integrated navigation system was simulated by MATLAB simulation test, which shows that the navigation accuracy of this method is significantly improved compared with the traditional Kalman filter algorithm. |
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| Keywords: | integrated navigation Kalman filter genetic algorithm filtering accuracy |
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