GPS定位中扩展卡尔曼滤波和基于Bancroft算法的2步滤波法的比较分析

Comparisons of extended Kalman filter and the two-step filter based on Bancroft algorithm in GPS positioning

GPS定位中常用的线性卡尔曼滤波模型的精度不能完全满足要求.为此,介绍了非线性卡尔曼滤波常用的扩展卡尔曼滤波(EKF)和基于Bancroft算法的2步滤波法.算例分析表明,基于Bancroft算法的2步滤波法较优.

Linear Kalman filter is usually adopted to deal with GPS positioning,the linear model of precision is not satisfied with the high precise GPS users.Therefore,the extended Kalman filter and the two-step filter based on Bancroft algorithm often used in nonlinear Kalman filter are introduced.In addition,combined with the calculation analysis of example,the result shows that the two-step filter is superior to the extended Kalman filter.