GPS动态定位中自适应卡尔曼滤波模型的建立及其算法研究

Study on Adaptive Kalman Filtering Model and Algorithm in GPS Kinematic Positioning

采用描述机动载体运动的“当前”统计模型，建立了一种新的GPS动态定位自适应卡尔曼滤波模型。为了进一步提高滤波器的动态性能，提出一种改进的自适应滤波算法，大大提高了GPS动态定位卡尔曼滤波器的跟踪能力，改善了滤波效果。计算机仿真结果验证了该算法的有效性。

By means of a current statistical model and adaptive algorithm for estimating maneuvering carrier vehicles,a new adaptive Kalman filtering model in GPS kinematic positioning is presented.In order to improve the performance of GPS kinematic positioning filter,a modified adaptive filtering algorithm is proposed.The tracking performance and filtering accuracy of the Kalman filter in GPS kinematic positioning are greatly enhanced by use of this adaptive filtering algorighm.The efficiency of the adaptive algorithm is verified by computer simulation results.