Lead and lag correction in vehicle navigation system
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摘要: 分析了车辆导航系统中超前滞后产生的原因,提出了利用地图匹配MM(Map Matching)进行GPS(Global Positioning System)/DRS(Dead Reckoning System)组合导航系统超前滞后校正的方法.该方法是将超前滞后误差归结为GPS误差,先利用GPS沿道路垂直方向上误差的可观测性进行GPS误差校正,再将校正的GPS信息与DRS信息进行卡尔曼滤波,从而减少组合导航系统超前滞后误差.仿真结果表明上述方法是行之有效的.Abstract: The reasons were analyzed ,which caused lead and lag errors in vehicle navigation system. A new method was proposed, which using map matching(MM)to correct lead and lag errors in global positioning system/dead deckoning system(GPS/DRS) integrated navigation system. The method made lead and lag errors boil down to GPS errors, which could be emendated by map data on the basis of the observability of GPS errors along the vertical direction . A general Kalman filtering was constructed to process the information of corrected GPS and DRS later, which decreased lead and lag errors in the integrated navigation system. Experimental results show the effectiveness of the proposed method．
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