Volume 29 Issue 3
Mar.  2003
Turn off MathJax
Article Contents
Kou Yanhong, Zhang Qishan, Li Xianlianget al. Data Fusion Algorithm for GPS/DR Integrated Vehicle Navigation System[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(3): 264-268. (in Chinese)
Citation: Kou Yanhong, Zhang Qishan, Li Xianlianget al. Data Fusion Algorithm for GPS/DR Integrated Vehicle Navigation System[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(3): 264-268. (in Chinese)

Data Fusion Algorithm for GPS/DR Integrated Vehicle Navigation System

  • Received Date: 19 Oct 2001
  • Publish Date: 31 Mar 2003
  • 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.

     

  • loading
  • [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, ed. IEEE PLANS'88 . Orlando:Institute of Navigation,1988. 39~46 [2] Eduardo M N, Hugh D W. A high integrity navigation architecture for outdoor autonomous vehicles[J]. Robotics and Autonomous Systems,1999,26(2):81~97 [3] 寇艳红,张其善,李先亮. 车载GPS/DR组合导航系统的信息融合新方案 . 遥测遥控,2002,23(1):7~12 Kou Y H,Zhang Q S,Li X L. New scheme of information fusion for GPS/DR integrated vehicle navigation system[J]. Journal of Telemetry, Tracking, and Command, 2002,23(1):7~12(in Chinese) [4] Zhou H R, Kumar K S P. A current statistical model and adaptive algorithm for estimating maneuvering targets[J]. Journal of Guidance,Control and Dynamics,1984,7(5):596~602 [5] 常 青. GPS定位方法及其应用研究 . 北京:北京航空航天大学电子工程系,1998 Chang Q. Study on GPS positioning method and its application . Beijing:Dept. of Electronic Engineering, Beijing University of Aeronautics and Astronautics,1998(in Chinese) [6] 彭 飞. 智能车辆定位与导航系统研究 . 北京:北京航空航天大学电子工程系,2000 Peng F. The study on intelligent vehicle location and navigation system . Beijing:Dept. of Electronic Engineering, Beijing University of Aeronautics and Astronautics,2000(in Chinese) [7] 胡 峰,孙国基. Kalman滤波的抗野值修正[J]. 自动化学报,1999, 25(5):692~696 Hu F,Sun G J. Fault-tolerant improvemnet on Kalman filter [J]. Acta Automatica Sinica,1999, 25(5):692~696(in Chinese) [8] 高钟毓. 工程系统中的随机过程—随机系统分析与最优滤波[M]. 北京:清华大学出版社,1998 Gao Z Y. Stochastic process in engineering system—stochastic system analysis and optimal filtering[M]. Beijing:Tsinghua University Press,1998(in Chinese) [9] Sage A P, Husa G W. Adaptive filtering with unknown prior statistics . In:Proceedings of Joint Automatic Control Conference . Boulder Colorado,1969. 760~769 [10] 张常云. 自适应滤波方法研究[J]. 航空学报, 1998, 19(7):96~99 Zhang C Y. Approach to adaptive filtering algorithm [J]. Acta Aeronautica Et Astronautica Sinica, 1998, 19(7):96~99(in Chinese) [11] 宋文尧,张 牙. Kalman滤波[M]. 北京:科学出版社, 1991 Song W Y,Zhang Y. Kalman filtering[M]. Beijing:Science Press, 1991(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(2800) PDF downloads(1202) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return