| 引用本文: | 房建成 申功勋 万德钧 周百令.GPS/DR组合导航系统自适应扩展卡尔曼滤波模型的建立*[J].控制理论与应用,1998,15(3):385~390.[点击复制] |
| FANG Jiancheng and SHEN Gongxun，WAN Dejun and ZHO Bailing.Establishment of an Adaptive Extended Kalman FilterModel for an GPS／DR Integrated Navigation System[J].Control Theory and Technology,1998,15(3):385~390.[点击复制] |
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| GPS/DR组合导航系统自适应扩展卡尔曼滤波模型的建立* |
| Establishment of an Adaptive Extended Kalman FilterModel for an GPS／DR Integrated Navigation System |
| 摘要点击 1416 全文点击 538 投稿时间：1996-12-06 修订日期：1997-07-25 |
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| DOI编号 |
| 1998,15(3):385-390 |
| 中文关键词 GPS 航位推算；陆地导航；组合导航；卡尔曼滤波；自适应算法 |
| 英文关键词 GPS dead reckoning land navigation integrated navigation Kalman filtering adaptive al-gorithm |
| 基金项目 |
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| 中文摘要 |
| 建立了车载GPS/DR组合导航系统非线性自适应卡尔曼滤波模型及算法. 首次提出了依据PDOP等GPS定位系统的输出参数，自动调整R，Q的大小，从而自适应地调整组合导航系统模型性能的方法，使得模型能够适应各种情况，具有“智能”模型的性质. 计算机仿真表明应用该模
型具有良好效果. |
| 英文摘要 |
| A nonlinear adaptive Kalman filter model and its algorithm for a GPS/DR integrated naviga-tion system in land vehicles are proposed. An effective method， in which the performance of the model for GPS/DR integrated navigation systems can be automatically regulated by changing Q and R in terms of the values of PDOP， is firstly presented. The model designed for GPS/DR systems can be adapted for different situations of land vehicle navigation， and possesses smart model characteristics. The efficiency of the model is verified by computer simulation results. |