| 改进联合滤波在GPS/DR组合定位中的应用 |
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| 引用本文： | 黄智,钟志华.改进联合滤波在GPS/DR组合定位中的应用[J].汽车工程,2006,28(12):1086-1089,1093. |
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| 作者姓名： | 黄智 钟志华 |
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| 作者单位： | 湖南大学,汽车车身先进设计制造国家重点实验室,长沙,410082 |
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| 摘 要： | 根据低成本车辆GPS/DR组合定位系统传感器精度低和计算能力弱的特点,提出一种改进联合卡尔曼滤波(FKF)算法,并简化主滤波器信息融合算法,稍微降低融合精度,提高计算效率。试验结果表明,提出的改进联合滤波算法具有融合精度高、容错性好、计算量小、便于工程实现等优点。
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| 关 键 词： | 联合卡尔曼滤波 GPS/DR组合定位系统 信息融合 |
| 收稿时间： | 2006-01-09 |
| 修稿时间： | 2006-01-092006-02-14 |
Application of Modified Federal Kalman Filter to Vehicle GPS/DR Positioning System |
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| Huang Zhi,Zhong Zhihua.Application of Modified Federal Kalman Filter to Vehicle GPS/DR Positioning System[J].Automotive Engineering,2006,28(12):1086-1089,1093. |
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| Authors: | Huang Zhi Zhong Zhihua |
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| Abstract: | In view of the low accuracy sensors and low calculating capability of low-price global positioning system/dead reckoning(GPS/DR) navigation system for vehicles,a modified federal kalman filter(FKF) is proposed,the fusion algorithm for master filter is simplified,and the calculating efficiency is improved at the cost of slightly reduction of fusion accuracy.Test results show that proposed scheme has reasonable fusion accuracy,good fault-tolerance with less computing effort. |
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| Keywords: | Federal Kalman filter GPS/DR positioning system Information fusion |
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