GPS/DR组合系统的一种数据处理技术

基金项目: 全国优秀博士论文作者专项基金资助项目(2000036);高校骨干教师基金资助项目(3240)

详细信息

GPS/DR Integration Algorithm Based on Technique of Measurement Disposal in Advance

¹ Department of Electronic Engineering,Naval Aeronautical Engineering Institute,188 Erma Road,Yantai 264001,China² Department of Training,Naval Aeronautical Engineering Institute,188 Erma Road,Yantai 264001,China

Funds: 全国优秀博士论文作者专项基金资助项目(2000036);高校骨干教师基金资助项目(3240)

摘要: 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。
- GPS /
- DR /
- 量测预处理 /
- 卡尔曼滤波 /
- 组合系统
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,the state and measurement equations for the GPS/DR integrated system is proposed.Based on this.According to the different sampling frequency of 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.
- GPS /
- DR /
- measurement in advance /
- Kalman filter /
- integrated system