摘要
在分析GPS/DR组合定位系统特点的基础上,设计了一种改进的联邦卡尔曼滤波器结构。对于GPS线性子系统采用标准卡尔曼滤波器,对于DR非线性子系统则采用无察觉卡尔曼滤波器。主滤波器采用动态信息分配系数对子滤波器的结果进行最优估计,并对DR子系统进行误差补偿,部分削减DR的误差累积效应。实验结果表明,算法能够满足车载导航系统的定位要求,并且在GPS误差较大时保持系统较高的可靠性和定位精度。
An improved federated Kalman filter configuration was designed based on the analysis of the features of GPS/DR integrated positioning system. A conventional Kalman filter is used to process the information from the linear GPS sub-system, while an unscented Kalman filter is used to process the information from the nonlinear DR sub-system. The main filter makes the optimal estimation of the results from the sub-systems using the dynamic information-sharing coefficient, and compensates the error of DR sub-system to reduce the accumulative error of DR. The test results showed that the proposed algorithm meets the positioning request of the on-board navigation system and keeps a good reliability and a high positioning accuracy when the GPS positioning is poor.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2008年第3期508-513,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
'863'国家高技术研究发展计划项目(2006AA11Z228)
吉林大学'985工程'项目
关键词
交通运输系统工程
信息融合
GPS/DR组合
卡尔曼滤波器
联邦滤波器
变权分析
engineering of communication and transportation system
data fusion
integration of GPS/DR
Kalman filter
federated filter
.analysis with varied weight
