摘要
首次设计了实现车载 Ｇ Ｐ Ｓ／ Ｄ Ｒ／地图匹配组合导航系统最优综合的联合卡尔曼滤波器，给出了滤波算法，并提出一种自适应联合卡尔曼滤波器结构及其算法。理论分析及计算机仿真结果均表明，应用该自适应联合卡尔曼滤波器可大大提高车载 Ｇ Ｐ Ｓ／ Ｄ Ｒ／地图匹配组合导航系统的定位精度及容错能力。
A federated Kalman filter mechanization to realize the optimal synthesis of GPS/DR/Map Matching integrated land navigation system is firstly designed, and its algorithm is presented also. Moreover, an adaptive federated Kalman filter mechanization and its algorithm are creatively proposed for this system. The theoretical analysis and computer simulation results both show that, by using this adaptive federated Kalman filter, the positioning accuracy and fault-tolerance capability of the GPS/DR/Map Matching integrated navigation system can be greatly improved.
出处
《控制与决策》
EI
CSCD
北大核心
1999年第5期448-452,共5页
Control and Decision
基金
航空科学基金
江苏省应用基础研究基金
关键词
组合导航系统
地图匹配
车辆
GPS,dead reckonning, integrated navigation, Kalman filtering, adaptive algorithm
