变加权系数联邦卡尔曼滤波在GPS/DR组合定位系统中的应用研究

The Applied Research of Variable Weighting Coefficient's Federated Kalman Filter in GPS/DR Integrated Positioning System

针对全球定位系统(GPS)接收机易出现"丢星"现象及航位推算系统误差累计问题,采用变加权系数的联邦卡尔曼滤波信息融合算法,实现以航位推算系统(DR)辅助GPS定位系统的组合定位系统,并用Matlab软件对此算法进行了仿真研究。该方法既克服了GPS信号的遮蔽问题,又充分利用了DR的短时高精度自主定位。仿真结果表明,该方法在保证了系统定位精度的前提下,有效提高了定位系统的容错性和工作可靠性。

For the probem of GPS receiver easily a ＂throwing star＂ and the cumulative error of DR,the integrated positioning system of GPS has been assisted by DR,achieved by using the information fusion algorithm of variable weighting coefficients ＇s federated Kalman filter.The algorithm has been simulated by Matlab.This method not only overcomes the GPS signal masking problem,but also make full use of the DR of the short-term high-precision self-positioning.The simulation results show that the method ensures positioning accuracy of the system under the premise of effectively improve the positioning system fault-tolerance and reliable operation.