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．
A nonlinear adaptive Kalman filter model and its algorithm for a GPS/DR integrated navigation 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.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1998年第3期385-390,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!BJ95026
航空基础科学基金!95E1116
关键词
GPS
组合导航
卡尔曼滤波
DR
车辆调度
GPS
dead reckoning
land navigation
integrated navigation
Kalman filtering
adaptive algorithm
