基于量测预处理技术的GPS/DR组合算法研究

Research on GPS/DR integration algorithm based on technique of measurement in advance

基于GPS在市区不能实现连续准确定位以及车辆航位推算系统(DR)的自主性,建立了GPS/DR组合的系统以及量测方程.以此为基础,根据GPS以及DR的采样频率的不同,引入量测预处理技术并用于GPS/DR的组合算法中,进而建立了采用量测预处理技术的卡尔曼滤波方程,最后通过实际的动态试验,论证了上述算法,并得出相应的结论.

Because GPS can not realize continuous and accurate position in the city and the vehicle dead reckoning system (DR) has the self-help in calculating the position,this paper builds up the state and measurement equations for the GPS/DR integrated system.Based on this,and according to the different sampling frequency for GPS and DR,the technique of measurement in advance is introduced and used in the algorithm of GPS/DR integrated system,then the Kalman Filtering equations are erected using the technique of measurement in advance,finally the above algorithm is validated by the practical dynamic experiment,and the corresponding conclusions are made.