| 嵌入式GPS/DR车载组合导航系统EKF算法软件设计 |
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| 引用本文： | 马红皎,胡永辉,武建锋,侯雷.嵌入式GPS/DR车载组合导航系统EKF算法软件设计[J].时间频率学报,2009,32(2):142-148. |
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| 作者姓名： | 马红皎 胡永辉 武建锋 侯雷 |
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| 作者单位： | 1. 中国科学院国家授时中心,西安,710600;中国科学院研究生院,北京,100039
2. 中国科学院国家授时中心,西安,710600 |
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| 基金项目： | 中国科学院"西部之光"资助项目，中国科学院青年人才专项资助项目 |
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| 摘 要： | 介绍一种嵌入式GPS／DR（全球定位系统／航位推算）车载组合导航（它通过GPS与DR的优势互补，提高了车辆导航系统定位数据的可靠性）的EKF（扩展卡尔曼滤波）算法软件设计方法。采用统计学原理剔除导航数据的粗差点，用扩展卡尔曼滤波进行导航参数的实时求解，采用EKF算法的GPS／DR组合导航系统有利于导航信息的稳定性、可靠性和实时性。
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| 关 键 词： | GPS／DR（全球定位系统／航位推算） 扩展卡尔曼滤波（EKF） 组合导航 |
Software Design of EKF Algorithm for Embedded GPS/DR Vehicle Integrated Navigation System |
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| MA Hong-jiao,HU Yong-hui,WU Jian-feng,HOU Lei.Software Design of EKF Algorithm for Embedded GPS/DR Vehicle Integrated Navigation System[J].Journal of Time and Frequency,2009,32(2):142-148. |
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| Authors: | MA Hong-jiao HU Yong-hui WU Jian-feng HOU Lei |
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| Abstract: | The GPS/DR (global position system/dead reckoning) integrated system can improve the reliability of the positioning data in virtue of advantage complementation. A software design of the extended Kalman filtering(EKF) algorithm for the embedded GPS/DR vehicle integrated navigation system is introduced. The gross errors in the navigation data are detected and removed based on statistic theory, and the navigation parameters are obtained with the extended Kalman filtering algorithm in real time. The GPS/DR vehicle integrated navigation system with EKF is advantageous to the stability and reliability of the navigation information and beneficial to real-time navigation. |
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| Keywords: | GPS/DR extended kalman filter (EKF) integrated navigation |
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