一种改进的卡尔曼滤波定位算法研究

Study on a positioning algorithm based on improved Kalman filter

研究了一种改进的卡尔曼滤波导航信号定位算法:通过测量每次接收机得到的伪距观测量及伪距变化量,估算出接收机的位置、速度,实现无线电导航系统的定位解算.该方法不直接使用卡尔曼滤波器来估计载体的状态,而是用滤波器来确定状态的误差,减小了运算误差,有效提高了定位精度.在进行参数估计时不需要贮存大量的测量数据,能够方便地进行动态测量数据的实时处理.该方法已经应用在导航定位解算中,仿真结果和实际应用验证了该方法具有快的收敛速度和高的定位精度.

A positioning algorithm for navigation signals based on improved Kalman filter is proposed in this paper. The receiver position and velocity can be estimated via measuring the pseudo ranges and their changes. Then the positioning calculation can be realized for radio navigation system. Kalman filter is used to confirm the errors of parameters in stead of the parameters themselves, which reduces the operation errors and improves the positioning accuracy efficiently. During the estimation, the mass measurement data do not have to be stored. The data measured dynamically can be easily processed in real time. This algorithm has been used in a practical navigation positioning system. The simulation and practical results indicate that it has high convergent rate and positioning precision.