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]
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 1418  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  
作者单位
房建成 申功勋 万德钧 周百令  
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.