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Volume 25 Issue 5
May  1999
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Journal of Beijing University of Aeronautics and Astronautics  > 1999  >  25(5): 513-516.
Yan Caixia, Zhan Qiang, Lu Zhenet al. Fault tolerance of parallel manipulator with actuation or structure redundancy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(12): 1407-1411. (in Chinese)
Citation: Zheng Pingfang, Chang Qing, Zhang Qishanet al. Study of GPS/DR Integrated Navigation System for Vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(5): 513-516. (in Chinese)
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Study of GPS/DR Integrated Navigation System for Vehicle

  • Beijing University of Aeronautics and Astronautics,Dept. of Electronic Engineering

  • Received Date: 29 Apr 1998
  • Publish Date: 31 May 1999
    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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    • References(1)
  • 1. Mar J, Leu J H. Simulation of the positioning accuracy of integrated vehicular navigation systems. IEE Proc — Radar,Sonar Navig,1996,143(2):121~128 2. 吴秋平,王 庆,万德钧,等. 车载GPS 组合导航与定位系统研究. 导航,1996,(4):18~24 3. 刘基余, 李征航, 王跃虎, 等. 全球定位系统原理及其应用. 北京:测绘出版社,1993 4. 徐爱功. 用GPS观测值对数据进行非线性平滑的模型建立.解放军测绘学院学报,1997,4(2):85~90 5. 吴秋平,王 庆,万德钧,等.GPS动态跟踪精度的研究.导航,1997,(2):54~60 6. 刘 渊. 城市车辆导航定位系统研究:[学位论文].北京:北京航空航天大学自动控制系,1997 7. 周宏仁,敬忠良,王培德. 机动目标跟踪. 北京:国防工业出版社,1991
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