民用导航型C/A码GPS接收机动态定位的强跟踪卡尔曼滤波研究

The Research of Strong Tracking Kalman Filtering in Kinematic Positioning of Civil C/A Code GPS Receiver for Moving Vehicles

本文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，滤波精度得到提高，且模型简单，系统运算量降低，实时性较好。然后，为了进一步提高滤波器的动态性能，改进了文献[4]中的强跟踪滤波器，大大提高了滤波器的跟踪能力。

In this paper, a modified strong tracking Kalman filtering algorithm is prcr Posed, and by means of the filtering algorithm the performance of GPS kinematic Positioning filter is improved for moving vehicle. At first, a new linear Kalman filtering model to estimate Position and vefority is built, the linear Kalman filter can bring higher filtering accuracy and simpler model and less computation load than the extended Kalrnan filter that is generally used. Then, in order to improve the dynamic peromance of the Kalman filter, an effective modified strong tracking Kalman filtering algortithm is introduced in detail.