自适应卡尔曼滤波器在陆地车辆导航中的应用

房建成; 申功勋; 万德钧

自适应卡尔曼滤波器在陆地车辆导航中的应用

1.
北京航空航天大学宇航学院
2. 东南大学仪器科学与工程系

基金项目: 航空科学基金(98E51101)和江苏省应用基础研究基金(BJ95026)资助项目

详细信息

中图分类号: U 491.512
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- 文章访问数: 3037
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- 被引次数: 0
出版历程
- 收稿日期: 1997-07-21
- 网络出版日期: 1999-02-28

Adaptive Extended Kalman Filter Model for Integrated Land Vehicle Navigation system

1.
Beijing University of Aeronautics and Astronautics,School of Astronautics
2. Southeast University,Dept. of Instrument Science and Engineering

摘要

摘要: 建立了车载GPS(Global Positioning System)/DR(Dead-Reckoning)组合导航系统自适应扩展卡尔曼滤波模型及其算法,从而大大提高了车辆导航系统的定位精度.首次提出依据PDOP(位置误差系数)等GPS定位系统的输出参数,自动调整观测噪声协方差阵[WTHX]R和系统噪声协方差阵Q[WT]的大小,从而自适应地调整组合导航系统模型性能的方法,使得模型具有较强的适应性.计算机仿真及实验结果表明应用该模型具有良好的效果.
- 航位推算法 /
- 车辆地面导航系统 /
- 组合导航 /
- 卡尔曼滤波 /
- GPS /
- 自适应滤波
Abstract: An adaptive extended Kalman filter model and its algorithm for GPS/DR integrated navigation system in land vehicles are proposed.By using the adaptive extended Kalman filter model and algorithm,the positioning accuracy of the vehicular integrated navigation system is greatly improved. An effective method, in which the performance of the model designed for GPS/DR integrated navigation systems can be antomatically regulated by changing the [WTHX]Q[WTBZ] and [WTHX]R[WTBZ] in terms of the value of PDOP, is firstly presented.The systems can be adapted for different situations of land vehicle navigation, and possesses smart characteristics. The efficiency of the adaptive extended Kalman filter is verified by computer simulation and experimental results.
- dead reckoning /
- vehicular ground navigation system /
- combinated navigation /
- Kalman filtering /
- GPS /
- adaptive filtering

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参考文献(1)

1. Krakiwsky E J, Harris C B,Wong R V C. A Kalman filter for integrated of dead reckoning, map matching and GPS positioning. In:Institute of Navigation,eds. Proceedings of IEEE Position Location and Navigation Symposium. Orlando:Institute of Navigation,1988.39~46 2. Popen R F, Mathis D L. Integrated of GPS with dead reckoning and map matching for vehicular navigation. In:Institute of Navigation,eds. Proceedings of the 1993 National Technical Meeting of the Institute of Navigation. San Francisco:Institute of Navigation, 1993. 158~164 3. Kao W W. Integration of GPS and dead reckoning navigation System. In:Institute of Navigation,eds. Proceedings of VNIS'91. Dearborn:Institute of Navigation,1991.635~643 4. 房建成,万德钧.GPS组合导航系统在车辆导航中的应用.东南大学学报,1996,26(3):96~102 5. Ramjattan A N, Gross P A. A Kalman filter model for an integrated Land vehicle navigation system. The Journal of Navigation,1995, 48(2):293~302 6. Zhou H R, Kumar K S P. A current statistical model and adaptive algorithm for estimating maneuvering targets.Journal of Guidance, Control and Dynamics,1984,7(5):596~602

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