一种基于卡尔曼滤波定位解算方法的研究

Research on Location and Solution Method Based on Kalman Filter

GPS利用卫星发射的无线电信号,通过计算卫星与GPS接收机之间的相对位置,进而确定出用户接收机在地球上的位置,可以为用户接收机提供实时的定位、测速和授时等服务。传统接收机通过最小二乘法进行定位解算,接收机坐标容易发生较大的跳动。通过利用卡尔曼滤波原理,根据接收机的运动特点建立模型,利用每次导航解算结果之间的联系,对定位结果进行平滑,消除由于最小二乘算法结果相对独立而产生的定位抖动误差。通过定位试验结果表明,所设计的定位解算算法具有良好的定位效果。

GPS uses the radio signals transmitted by satellites to determine the position of the user receiver on the earth by calculating the relative position between the satellite and the GPS receiver,and can provide real-time positioning,speed measurement and timing services for the user receiver.The traditional receiver uses the least squares method to solve the positioning,and the coordinates of the receiver are prone to large jumps.By using the principle of Kalman filtering,a model is established according to the motion characteristics of the receiver,and the relationship between the results of each navigation solution is used to smooth the positioning results and eliminate the positioning jitter error caused by the relative independence of the results of the least squares algorithm.The positioning test results show that the positioning algorithm designed in the paper has a good positioning effect.