摘要
该文提出了一种GPS动态位滤波新方法。通过分析GPS在汽车导航定位应用中的具体情况,注意到汽车在行驶过程会受到道路的约束,从而提出以道路抽象出的直线方程作为定位滤波的约束条件。该文建立了带道路约束条件的滤波动态系统模型,并推导出了带约束条件的卡尔曼滤波方程。计算机仿真实验和实测数据滤波分析表明,与一般卡尔曼滤波方法相比,该方法简单易行,计算量增加不大,且明显地提高了GPS定位滤波精度。在汽车导航定位系统中有一定的应用价值。
In this paper, a new kinematic filtering method of GPS positioning is proposed. By analyzing the application of GPS in navigation of vehicles we noticed that the running vehicles are constrained by the road. Then a kinematic model with constraint conditions was built and the recursive algorithm was deduced. By analyzing the result of the computer simulation and the experiment of the real data, the efficiency of the new filtering method comparing with the standard Kalman filter was verified.
出处
《计算机仿真》
CSCD
2004年第12期80-83,共4页
Computer Simulation
基金
国家自然科学基金资助项目(60272040)
