GPS 动态滤波的新方法

本文提出一种ＧＰＳ动态定位滤波的新方法。该方法直接从ＧＰＳ接收机输出的定位结果入手，将各种误差因素的影响等效为输出定位结果的总误差，视为有色噪声，建立线性卡尔曼滤波模型对位置和速度信息进行估计。与以往采用的非线性卡尔曼滤波器相比，滤波后定位误差明显减小，且模型简单，系统运算量降低，实时性较好。另外，为了提高滤波器的动态性能，还提出了一种有效的次优加权自适应卡尔曼滤波算法

A New Kinematic Filtering Method of GPS Positioning for Moving Vehicles

In this paper ,a new kinematic filtering method of GPS positioning for moving vehicles is proposed.On the basis of the thought that the various errors caused by different error sources can be equivalent to the total error of positioning results from the GPS receiver,a linear Kalman filtering model to estimate position and velocities is built.The linear Kalman filter can bring higher filtering accuracy and simpler model and less computation load than the extended Kalman filter that is generally used.Otherwise,in order to improve the dynamic performance of the Kalman filter ,an effective suboptimal adaptive Kalman filtering algorithm is introduced in detail.