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Volume 25 Issue 2
Feb.  1999
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Journal of Beijing University of Aeronautics and Astronautics  > 1999  >  25(2): 235-239.
Fang Jiancheng, Shen Gongxun, Wan Dejunet al. Adaptive Extended Kalman Filter Model for Integrated Land Vehicle Navigation system[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(2): 235-239. (in Chinese)
Citation: Fang Jiancheng, Shen Gongxun, Wan Dejunet al. Adaptive Extended Kalman Filter Model for Integrated Land Vehicle Navigation system[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(2): 235-239. (in Chinese)
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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

  • Received Date: 21 Jul 1997
  • Publish Date: 28 Feb 1999
    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.

     

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  • 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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