| 一种自适应联合卡尔曼滤波器及其在车载GPS/DR组合导航系统中的应用研究 |
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| 引用本文： | 房建成,申功勋,万德钧.一种自适应联合卡尔曼滤波器及其在车载GPS/DR组合导航系统中的应用研究[J].中国惯性技术学报,1998,6(4):1-6. |
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| 作者姓名： | 房建成 申功勋 万德钧 |
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| 作者单位： | 1. 北京航空航天大学
2. 东南大学 |
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| 基金项目： | 中船总“八五”预研,江苏省应用基础研究基金 |
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| 摘 要： | —本文设计了实现车载ＧＰＳ／ＤＲ组合导航系统最优综合的联合卡尔曼滤波器，并给出了滤波算法。提出了一种自适应联合卡尔曼滤波器结构及其算法，并应用于ＧＰＳ／ＤＲ组合导航系统的最优综合校正中。理论分析及计算机仿真结果均表明，应用该自适应联合卡尔曼滤波器可大大提高车载ＧＰＳ／ＤＲ组合导航系统的定位精度及容错能力。
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| 关 键 词： | GPS 航位推算系统 组合导航 陆地导航 联合卡尔曼滤波器 自适应算法 |
| 修稿时间： | 1997-08-07 |
An Adaptive Federated Kalman Filter and Its Application at GPS/DR Integrated Navigation System in Land Vehicle |
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| Fang Jiancheng,Shen GongXun,Wan Dejun.An Adaptive Federated Kalman Filter and Its Application at GPS/DR Integrated Navigation System in Land Vehicle[J].Journal of Chinese Inertial Technology,1998,6(4):1-6. |
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| Authors: | Fang Jiancheng Shen GongXun Wan Dejun |
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| Institution: | Fang Jiancheng Shen GongXun Wan Dejun (Beijing University Aeronautics and Astronautics) (Southeast University) |
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| Abstract: | A federated Kalman filter mechanization to realize the optimal synthesis of GPS/DR integrated land navigation system is designed first, and its algorithm is presented. Moreover, an adaptive federated Kalman filter mechanization and its algorithm are creatively proposed for GPS/DR integrated land vehicle navigation system. The theoretical analysis and computer simulation results all show that the positioning accuracy and faulttolerance ability of the GPS/DR integrated navigation system can be greatly imptoved by using this adaptive federated Kalman filter. |
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| Keywords: | GPS dead reckoning integrated navigation land navigation Kalman filtreing adaptive algorithm |
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