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�������պ����ѧѧ�� 2007, Vol. 33 Issue (02) :184-187    DOI:
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Nonlinear filter algorithm for GPS/DR integrated positioning
Liu Xu, Zhang Qishan, Yang Dongkai*
School of Electronics and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ �����������ڳ�������ϵͳ�Ļ���UKF(Unscented Kalman Filter)��GPS/DR(Global Positioning System/Dead Reckoning)��϶�λ�˲�ģ�ͼ��㷨.���ϵͳ״̬����Ϊ���ԡ��۲ⷽ��Ϊ�����Ե��ص�,�����һ�ֽ�UKF��EKF(Extended Kalman Filter)���ϵķ������˲��㷨.��Ϻ���㷨��ԭ��UKF�㷨��ȼ�������ʱ����½׶ε�������,�������ڲ��û���Unscented�任��˼��������ϵͳ�۲ⷽ�̵ķ���������,������EKF��������Ի����,������˲�����.������֤��:�㷨�ڼ�����������ͬʱ,�Ծ��нϸߵ��˲�����,����������EKF,����ܹ����㳵������ϵͳռ����Դ�١��˲����ȸߵ�Ҫ��.
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Abstract�� A filter model and its algorithm based on UKF (unscented Kalman filter) for GPS/DR (global positioning system/dead reckoning) integrated positioning in land vehicle navigation system were established. Aiming at the system characteristic of linear state equation and nonlinear measurement equation, the algorithm which combines UKF with EKF (extended Kalman filter) was proposed. Compared with general UKF,the operation time used for the phase of time updating is less than that of general UKF. The error caused by the linearization of EKF is eliminated and the precision is improved contributing to processing the nonlinear problem with unscented transform. The simulation result demonstrates that the algorithm has better filtering precision than EKF, and reduces computing time, which is fit for integrated navigation system demanding for little resource and high precision.
Keywords�� dead reckoning   GPS   integrated navigation   Kalman filtering     
Received 2006-03-09;
About author: �� ��(1978-),��,����������,��ʿ��,liuxu-buaa6666@sina.com.
����, ������, ���.һ������GPS/DR��϶�λ�ķ������˲��㷨[J]  �������պ����ѧѧ��, 2007,V33(02): 184-187
Liu Xu, Zhang Qishan, Yang Dongkai.Nonlinear filter algorithm for GPS/DR integrated positioning[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(02): 184-187
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2007/V33/I02/184
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