车辆自主导航系统的双滤波器模型及其导航算法

Two-Filter Model and Its Navigation Algorithm of Vehicular Autonomous Navigation System

给出了车辆自主导航系统的双滤波器模型及其航位递推算法 ,在导航解算的每步递推中 ,先用航向滤波器进行航向捕获 ,再用航位滤波器进行航位捕获。这种方法利用两个线性滤波器分别进行航向 /航位估计 ,避免了常规导航算法由于观测方程线性化引起的模型误差 ,算法稳定性好 ,且计算量较小。现场跑车试验表明 。

Two filter model and dead reckoning(DR)algorithm of vehicular autonomous navigation system are proposed. In each recursive step of DR algorithm, vehicle direction, then orientation are acquired respectively by direction filter and orientation filter. Two linear filters are introduced in this approach to obtain the estimation of direction/orientation information respectively. Thus avoiding the model distortion due to linearization of the nonlinear observation equation in conventional vehicular navigation algorithms. This navigation algorithm is stable and involves less computional work. Field running experiment shows that the required accuracy can be obtained by the autonomous navigation system of two filter model and its algorithm.\;