| 自适应卡尔曼滤波在GPS/DR组合导航中的应用 |
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| 引用本文： | 陈远,张小红,郭斐,熊旭,李海英.自适应卡尔曼滤波在GPS/DR组合导航中的应用[J].测绘科学,2010,35(3):169-170,155. |
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| 作者姓名： | 陈远 张小红 郭斐 熊旭 李海英 |
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| 作者单位： | 广东省航道利用外资项目管理办公室,广州,510115;武汉大学测绘学院,武汉,430079;成都市勘察测绘研究院,成都,610081;广州市计量检测技术研究院,广州,510030 |
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| 摘 要： | 针对在观测条件较差的情况下卡尔曼滤波的鲁棒性较差,本文设计了一种自适应卡尔曼滤波模型。通过实际车载GPS/DR组合导航试验,结果表明该模型在观测质量较差的情况下能够抑制较大的偏差,相对于标准卡尔曼滤波模型,其平面定位精度提高了近一倍,达到2～3m。因此,在观测环境较差的情况下建议采用渐消自适应卡尔曼滤波模式进行组合导航。
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| 关 键 词： | 自适应 卡尔曼滤波 GPS/DR 组合导航 |
Application of adaptive Kalman filter to GPS/DR integrated navigation |
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| CHEN Yuan,ZHANG Xiao-hong,GUO Fei,XIONG Xu,LI Hai-ying.Application of adaptive Kalman filter to GPS/DR integrated navigation[J].Science of Surveying and Mapping,2010,35(3):169-170,155. |
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| Authors: | CHEN Yuan ZHANG Xiao-hong GUO Fei XIONG Xu LI Hai-ying |
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| Abstract: | For the poor robustness of Kalman filter in bad observation condition, a model of adaptive Kalman filter was designed in this paper.The actual vehicle GPS/DR tests showed that this model could reduce relatively larger deviations in poor observation condition.The plane positioning precision of adaptive Kalman filter was 2～3 meters better than standard Kalman filter.So using adaptive Kalman filter in integrated navigation was advised in poor observation condition. |
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| Keywords: | GPS/DR adaptive Kalman filter GPS/DR integrated navigation |
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