摘要
根据DR传感器误差的数学模型,将其误差参数作为状态变量,建立了基于‘当前’统计模型的GPS/DR组合定位的卡尔曼滤波模型。仿真结果表明该算法在多种情况下均可使定位精度保持在较高范围内,完全可以满足普通车辆的定位要求。
These error parameters of DR sensors are added as state vector according to the error mathematical model of DR sensors. Kalman filter model of GPS/DR integrated positioning system based on current statistical model is founded, and this algorithm is simulated by Matlab software, simulation results show that the the positio- ning accuracy is kept in higher level under the various circumstances, so this algorithm can meet the positioning requirement of normal vechicle.
出处
《科学技术与工程》
2008年第9期2371-2375,共5页
Science Technology and Engineering
