附有道路信息约束的自适应卡尔曼滤波在车载导航中的应用
Application of Adaptive Kalman Filter Restricted by Road Information to Vehicleborne Navigation
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摘要: 基于车辆“当前”统计模型,利用自适应卡尔曼滤波对车载GPS动态数据进行了处理。将制约车辆运动的道路信息引入模型中,作为约束条件引入卡尔曼滤波方程。其思路是在原有滤波的基础上,利用道路信息约束条件对滤波方程中的一步预测值进行修正,以提高滤波结果的精度。实验结果表明,该算法具有实用意义。Abstract: Based on vehicle current statistic model,the adaptive Kalman filter to process vehicle-borne GPS data is set up.The road information that can restrict the vehicle track is introduced.The idea is to modify the one-step estimated value using the restricting information so that the filter results can be improved.The experimental result shows that the method is available by the emulation results.
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