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基于联邦Kalman滤波的Wi-Fi/GPS车辆组合定位系统 被引量：3

Wi-Fi/GPS integrated positioning system using a federated Kalman filter
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摘要 针对全球卫星定位系统(GPS)在密集城市地带、隧道、室内停车场等环境下不可用及Wi-Fi定位精度不足的问题,提出了一种Wi-Fi/GPS组合定位系统。该系统基于联邦Kalman滤波器,先通过两个并行的局部滤波器获得Wi-Fi、GPS定位子系统的局部最优估计,再由主滤波器融合得到最优全局估计。仿真结果表明:较之单独使用GPS或Wi-Fi,组合定位系统的定位精度分别提高了近70%和81%,且有效扩大了应用范围。 Since the global positioning system（GPS） is unavailable in dense urban environments,tunnels,indoor parking lots,etc.and the Wi-Fi system suffers from low accuracy,this paper presents a Wi-Fi/GPS integrated positioning system based on the federate Kalman filter（FKF）.The local optimal estimates of the Wi-Fi positioning and GPS are produced by two local filters operating in parallel and then inputted to a master filter to yield a globally optimal estimate.Simulation results show that the accuracy is remarkably improved by about 70% compared with GPS positioning alone and 81% compared with Wi-Fi alone.The scope of positioning is also effectively expanded.
作者 卢恒惠 张盛 汪浩 林孝康
机构地区 清华大学深圳研究生院
出处 《清华大学学报（自然科学版）》 EI CAS CSCD 北大核心 2011年第3期420-423,427,共5页 Journal of Tsinghua University(Science and Technology)
关键词 WI-FI 全球卫星定位系统(GPS) 联邦Kalman滤波(FKF) 组合定位 Wi-Fi global positioning system（GPS） federated Kalman filter（FKF） integrated positioning
分类号 TN961 [电子电信—信号与信息处理]
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参考文献11

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同被引文献22

  • 1成光,刘卫东,魏尚俊,张蕊.基于卡尔曼滤波的目标估计和预测方法研究[J].计算机仿真,2006,23(1):8-10. 被引量：9
  • 2于德新,杨兆升,刘雪杰.基于卡尔曼滤波的GPS/DR导航信息融合方法[J].交通运输工程学报,2006,6(2):65-69. 被引量：23
  • 3马忠孝,刘宗玉,陈明.基于模糊逻辑的自适应卡尔曼滤波在GPS/INS组合导航中的应用[J].信息与控制,2006,35(4):457-461. 被引量：13
  • 4韩志玲.基于GPS和GPRS的公交车辆管理系统的设计与实现[J].太原科技大学学报,2006,27(5):347-351. 被引量：4
  • 5ANDREAS MAIER, GERT F, JOMMER. Comparision of Centralized and Decentralized Kalman Filter for SAR/TRN/GPS/INSIntegration[ C ]//International Technical Meeting ,2010,25 ( 1 ) :74-80.
  • 6HU DANDAN, GAO QINGJI. Application of Fuzzy Federal Kalman Filtering in the Airport Automatic Docking Guidance System [ C ]//World Congress on Intelligent Control and Automation(IEEE) ,2008,25(7) :3576-3580.
  • 7HAO ZHENHAI, HUANG SHENGGUO. Data Fution Approach Based on High Precision Barometric Altimeter and GPS [ C ]// School of Civil Aviation ( IEEE), 2009,23 ( 5 ) : 1- 4.
  • 8SUN XIAO-JUN, GAO YUAN, DENG ZI-LI, et al. Multi-model information fusion Kalman ? ltering and white noise deconvolu- tion [ J ]. Information Fusion.2010.11 (4) : 163-173.
  • 9WU JIANHONG,ZHANG HONGCAI. Data fusion algorithm design of GPS/IMU based on fuzzy adaptive federated Kalman fil- ter [ J ]. Image and Signal Processing ( IEEE), 2009,17 (10) : 1-4.
  • 10Cheong J W. Towards multi-constellation collective detec- tion for weak signals: A comparative experimental analy- sis [ C ] // 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011. Portland : Institute of Navigation, 2011 : 3709-3719.

引证文献3

二级引证文献21

清华大学学报（自然科学版）
2011年 第3期

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