【作者】 左峻疆； 刘艳； 鲍远律；

【Author】 Zuo Junjiang, Liu Yan, Bao Yuanlu (Department of Automation, University of Science and Technology of China, Hefei Anhui 230027, China)

【机构】 中国科学技术大学自动化系；

【摘要】 本文提出了一种GPS动态位滤波新方法。通过分析GPS在汽车导航定位中的应用,建立了带速度方向约束条件的动态系统模型,并推导了相应的卡尔曼滤波方程。仿真实验分析表明,本文所提出的改进卡尔曼滤波方法简单,有效,和一般的带速度观测量的卡尔曼滤波算法相比,在保证滤波精度的同时,有效的抑制了载体在低速运动和急转弯运动时出现的滤波结果抖动、滞后和发散的现象,在汽车定位导航系统中有一定的应用价值。更多还原

【Abstract】 In this paper, a new kinematic filtering method of GPS (Global Positioning System) positioning is proposed. By analyzing the appliance of GPS in the navigation of vehicles we noticed that the vehicle is constrained by the road where it is running. Then a kinematic model with constraint conditions was built and the recursive algorithm was deduced. By analyzing the result of the computer simulation of the real data, the efficiency of the new filtering method comparing with the kalman filter with velocity observation is verified.更多还原