摘要
提出了一种应用于 GPS动态定位滤波的自适应卡尔曼滤波算法 ,此自适应滤波器算法简单 ,与常规滤波器相比 ,可实现快速有效地提高 GPS定位精度。
An adaptive Kalman filtering method in GPS kinematic positioning with speed observation is persented.The dynamic tracking performance of the Kalman filter can be greatly improved in estimating carrier by means of the adaptive algorithm.In terms of singer model and adaptive algorithm for estimating maneuvering targets,the system equations and the observation equation with speed observation are established in GPS kinematic positioning,and the system observability analysis is performed.The algorithm of the adaptive kalman filter is simple.In comparison to the traditional Kalamn filter,the convergent speed and accuracy of the adaptive Kalman filter are greatly enhanced,so the positioning accuracy of maneuvering carrier vehicle by GPS is improved.The effciency of the adaptive Kalman filter with speed observation is verified by the computer simulation results.
出处
《中国惯性技术学报》
EI
CSCD
2000年第3期27-32,共6页
Journal of Chinese Inertial Technology
基金
国防"九.五"预研项目资助
