北京航空航天大学学报 ›› 2003, Vol. 29 ›› Issue (3): 264-268.

• 论文 • 上一篇    下一篇

车载GPS/DR组合导航系统的数据融合算法

寇艳红, 张其善, 李先亮   

  1. 北京航空航天大学 电子工程系
  • 收稿日期:2001-10-19 出版日期:2003-03-31 发布日期:2010-09-27
  • 作者简介:寇艳红(1969-),女,河南许昌人,讲师,100083,北京.
  • 基金资助:

    国家重点科技攻关计划资助项目(9613020502)

Data Fusion Algorithm for GPS/DR Integrated Vehicle Navigation System

Kou Yanhong, Zhang Qishan, Li Xianliang   

  1. Dept. of Electronic Engineering, Beijing University of Aeronautics and Astronautics
  • Received:2001-10-19 Online:2003-03-31 Published:2010-09-27

摘要: 建立了车载GPS/DR(全球定位系统/航位推算)组合导航系统自适应联合Kalman滤波的数学模型,研究了综合运用子系统状态评估、自适应信息分配、误差补偿、迭代扩展Kalman滤波、抗野值干扰、U-D协方差分解滤波等技术来提高精度和可靠性的融合滤波算法;针对滤波发散的问题,引入了一种在线估计观测噪声统计特性的自适应滤波方法.理论分析和半物理仿真结果表明,所设计的算法在精度、可靠性、适应性、实时性等方面效果都很好.

Abstract: An adaptive federated Kalman filter model for GPS/DR integrated vehicle navigation system was established. Attention was focused on the filter algorithm. To improve the precision and reliability, data fusion techniques such as subsystem state evaluation, adaptive information distribution, error compensation, iterative extended Kalman filter, resist outliers, and U-D covariance decompose were used in the algorithm. To solve the problem of filtering divergence, a method to estimate the statistical feature of measurement noise was introduced. Theoretical analysis and semi-physical simulation results demonstrated that the algorithm is efficient in precision, reliability, adaptivity and real-time processing rate.

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