汪志明, 花向红, 陈远, 郭斐. GPS/DR组合Kalman滤波模型及性能分析[J]. 武汉大学学报 ( 信息科学版), 2009, 34(9): 1102-1105.
引用本文: 汪志明, 花向红, 陈远, 郭斐. GPS/DR组合Kalman滤波模型及性能分析[J]. 武汉大学学报 ( 信息科学版), 2009, 34(9): 1102-1105.
WANG Zhiming, HUA Xianghong, CHEN Yuan, GUO Fei. An Integrated GPS/DR Kalman Filter Model and Its Performance Analysis[J]. Geomatics and Information Science of Wuhan University, 2009, 34(9): 1102-1105.
Citation: WANG Zhiming, HUA Xianghong, CHEN Yuan, GUO Fei. An Integrated GPS/DR Kalman Filter Model and Its Performance Analysis[J]. Geomatics and Information Science of Wuhan University, 2009, 34(9): 1102-1105.

GPS/DR组合Kalman滤波模型及性能分析

An Integrated GPS/DR Kalman Filter Model and Its Performance Analysis

  • 摘要: 设计了一种适用于融合GPS、DR两种不同导航输入信息的Kalman滤波器,能够将GPS导航解、GPS伪距观测值、GPS多普勒观测值以及DR原始观测值进行融合,实现最优的滤波效果。实际车载试验比较分析了GPS/DR松组合、基于伪距的GPS/DR紧组合、基于伪距与伪距率的GPS/DR紧组合三种不同组合模式的导航定位精度。结果表明,紧组合较松组合而言,充分利用了GPS和DR的原始观测信息,增加了系统的可观测度,提高了滤波跟踪精度,进一步提高了组合导航系统的可靠性和稳定性。

     

    Abstract: An integrated GPS/DR Kalman filter which combines GPS pseudo-range,pseudo-range rate and DR raw data is designed.A field car-borne test has been carried out to compare and analyze the precision of the following three modes:GPS/DR loosely coupled module,pseudorange-based tightly module and GPS/DR tightly coupled module based on both pseudo-range and pseudo-range rate.The final results show that,compared with the loosely coupled integrated navigation system,GPS/DR tightly coupled integrated navigation system has made full use of the original information of GPS and DR,multiplied the observable measures,intensified the kalman filter tracking precision and improved the reliability and stability of the combined navigation system.

     

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