一种基于EKF的GPS/SM组合定位算法

A Novel GPS/SM Integrated Positioning Algorithm Based on EKF

在城市峡谷中两侧建筑物几何结构相近的情况下,阴影匹配算法难以保证沿街方向的定位精度。针对此问题,本文通过在阴影匹配算法的基础上,引入GPS速度信息,提出一种基于EKF的GPS/SM组合定位算法。实测结果表明,本文提出的算法在沿街方向的平均绝对偏差是1.18m,比传统GPS的3.58m和阴影匹配算法的4.34m,分别降低了67.0%和72.8%。

The geometrical structure of both sides of the building is similar in urban canyons,shadow matching algorithm is difficult to ensure positioning accuracy in the alongstreet direction.To solve this problem,this paper introduces GPS speed information on the basis of the shadow matching algorithm,proposes a novel GPS/SM integrated positioning algorithm based on EKF.In the experimental verification,the proposed algorithm improves the along-street accuracy with a mean absolute deviation of 1.18 m,with a 67.0% and 72.8%reduction compared to the traditional GPS with 3.58 mand the shadow matching algorithms with 4.34 m.