摘要
提出了带有速度观测量的GPS动态滤波方法，从而解决了载体机动时滤波器的动态跟踪问题．首先采用描述机动载体运动的“当前”统计模型，建立了GPS动态定位滤波的系统方程，和带有速度观测量的观测方程，并进行了系统的可观测性分析．然后进行了引入速度观测量提高跟踪精度的理论分析．最后通过计算机仿真结果验证了增加速度观测量可有效地提高滤波器的跟踪精度。
A Kalman filtering method in GPS kinematic positioning with speed observation is presented,and the dynamic tracking performance of the Kalman filter is greatly improved for estimating maneuveringcarrier vehicles. By means of a current statistical model and adaptive algorithm for estimating maneuveringtargets,the system equations and the observation equations with speed observation are established in GPSkinematic positioning,and the system observability analysis is performed. It is theoretically analyzed that thedynamic tracking accuracy of filter is greatly improved due to speed observation. The efficiency of the Kalmanfilter with speed observation is verified by the computer simualation results.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1998年第6期914-919,共6页
Control Theory & Applications
基金
中船总"八五"预研项目
江苏省应用基础研究基金
关键词
GPS
动态定位
卡尔曼滤波
跟踪精度
GPS
kinematic positioning
Kalman filtering
adaptive algorithm
tracking accuracy
