GPS动态定位中卡尔曼滤波模型的建立及其强跟踪算法研究

A Modified Strong Tracking Kalman Filter and Its Application in GPS Kinematic Positioning for Moving Vehicles

提出一种改进的强跟踪卡尔曼滤波算法,应用于GPS动态定位滤波中获得明显效果。首先建立了一种新的GPS动态定位滤波模型,该模型与以往采用的非线性卡尔曼滤波模型相比,具有模型简单、实时性好的特点。为了进一步提高滤波器的动态性能,改进了文献[1]中的强跟踪滤波算法,大大提高了滤波器的跟踪能力。

A modified strong tracking Kalman filtering algorithm is proposed, and the performance of GPS kinematic positioning filter is improved for moving vehicles by means of the filtering algorithm. At first, a new linear Kalman filtering model is built to estimate the position and velocity of moving vehicles. The linear Kalman filter possesses simpler model and less computation load than the extended Kalman filter that was generally used. Then in order to improve the dynamic performance of the Kalman filter . an effective modi-fied strong tracking Kalman filtering algorithm is introduced in detail.