Study of GPS/DR Integrated Navigation System for Vehicle
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摘要: 介绍了车载GPS(Global Positioning System)/DR(Dead Reckoning)组合导航系统的设计,在对GPS/DR组合导航系统中主要误差来源分析的基础上,建立了表示这些误差的数学模型.根据组合系统的数据融合原理,提出一种基于对观测量进行误差补偿的迭代扩展组合卡尔曼滤波算法.对车载GPS/DR组合导航系统提供的实际数据的处理结果表明,该算法在提高GPS定位精度的情况下,能很好地修正DR系统的积累误差,大大提高了组合系统的完整性、可靠性.Abstract: The design of the GPS/DR integrated navigation system is presented and the main error sources which affect the GPS/DR system position accuracy are also analyzed. A mathematical model is founded to represent these main errors and an extended,iterated and federated Kalman filter algorithm is propounded which is based on compensating for some observation errors according to the principle of data fusion of the GPS/DR integrated system for vehicle. The Experimental results demonstrate that this filter algorithm can improve the positioning accuracy of the GPS system , correct the accumulating error of the DR system at the same time, and enhance the GPS/DR integrated system reliability and integrity greatly.
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Key words:
- dead reckoning /
- integrated navigation /
- Kalman filter /
- global position system
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