摘要
本文介绍了车载GPS/DR组合导航系统的设计 ,建立了表示车辆加速度及影响组合导航系统定位精度的主要误差的数学模型。针对迭代扩展组合卡尔曼滤波算法中 ,由于DR系统误差的引入导致滤波效果不好的问题 ,提出了一种新的组合导航系统的数据融合算法。对实际跑车数据的处理结果表明 ,该算法在提高组合导航系统的定位精度及可靠性和完整性方面是有效的。
In this paper,the design of the GPS/DR integrated vehicular navigation system is presented,and the mathematical models are founded for the acceleration of vehicle and the main errors which affect the positioning accuracy of the integrated vehicular navigation system Also,a new data fusion algorithm of the integrated vehicular navigation system is proposed to solve the problem of unsatisfactory filtering effect due to the introduction of the DR system error in the iterated,extended and federated Kalman filter algorithm The experimental results show that this algorithm is effective for the improvement of the positioning accuracy,reliability and integrity of the integrated vehicular navigation system
出处
《通信学报》
EI
CSCD
北大核心
2000年第2期42-48,共7页
Journal on Communications
基金
国家重点科技攻关计划项目!(96 130 2 0 5 0 2 )
关键词
全球定位系统
组合导航
数据融合算法
车载
global positioning system
integrated navigation
dead reckoning
data fusion
