基于量测预处理技术的GPS/DR组合算法研究

Research on GPS/DR integration algorithm based on technique of measurement in advance

摘要:

基于GPS在市区不能实现连续准确定位以及车辆航位推算系统(DR)的自主性,建立了GPS/DR组合的系统以及量测方程。以此为基础,根据GPS以及DR的采样频率的不同,引入量测预处理技术并用于GPS/DR的组合算法中,进而建立了采用量测预处理技术的卡尔曼滤波方程,最后通过实际的动态试验,论证了上述算法,并得出相应的结论。

Abstract:

Because GPS can not realize continuous and accurate position in the city and the vehicle dead reckoning system (DR) has the self-help in calculating the position, this paper builds up the state and measurement equations for the GPS/DR integrated system. Based on this, and according to the different sampling frequency for GPS and DR, the technique of measurement in advance is introduced and used in the algorithm of GPS/DR integrated system, then the Kalman Filtering equations are erected using the technique of measurement in advance, finally the above algorithm is validated by the practical dynamic experiment, and the corresponding conclusions are made.