摘要
针对描述车辆变化过程的“当前”统计模型在车辆处于弱机动情况下跟踪性能较差的不足，提出了一种改进的“当前”统计模型来描述车辆的各种机动特性。分析了采用扩展卡尔曼滤波技术（EKF）的GPS／DR组合定位方法，针对EKF在处理非线性模型上的不足，采用了无迹卡尔曼滤波技术（UKF）来实现GPS／DR组合定位，以进一步提高车载导航系统的精度，仿真结果表明定位精度由8m提高到5m。
The current-statistical model which is used to describe the vehicle motion state exists disadvantage when the car in weak maneuvering. An improved current-statistical model is proposed and establishes the system state equations in this paper. This model can meets all kinds of vehicle maneuvering characteristics. Analyzing the currently common method which adopting the Extended Kalman Filter （EKF） technology to realize GPS/DR integrated position method. As the shortage of EKF method; Unscented Kalman Filter （UKF） methosd is adopted in order to improve the positioning accuracy furtherly. And the simulation result show the position accuracy is improved from 8m to 5m.
