一种自适应联合卡尔曼滤波器及其在车载GPS/DR组合导航系统中的应用研究

An Adaptive Federated Kalman Filter and Its Application at GPS/DR Integrated Navigation System in Land Vehicle *

—本文设计了实现车载ＧＰＳ／ＤＲ组合导航系统最优综合的联合卡尔曼滤波器，并给出了滤波算法。提出了一种自适应联合卡尔曼滤波器结构及其算法，并应用于ＧＰＳ／ＤＲ组合导航系统的最优综合校正中。理论分析及计算机仿真结果均表明，应用该自适应联合卡尔曼滤波器可大大提高车载ＧＰＳ／ＤＲ组合导航系统的定位精度及容错能力。

A federated Kalman filter mechanization to realize the optimal synthesis of GPS/DR integrated land navigation system is designed first, and its algorithm is presented. Moreover, an adaptive federated Kalman filter mechanization and its algorithm are creatively proposed for GPS/DR integrated land vehicle navigation system. The theoretical analysis and computer simulation results all show that the positioning accuracy and faulttolerance ability of the GPS/DR integrated navigation system can be greatly imptoved by using this adaptive federated Kalman filter.