摘要
采用描述机动载体运动的"当前"统计模型,根据GPS接收机实际能够输出位置与速度信息的特点构建了系统的量测方程,建立了标准的GPS动态定位卡尔曼滤波模型,并描述了算法的推导过程。仿真实验分析,带有速度信息的卡尔曼滤波方程在载体低速运行时位置误差会很大,通过改进卡尔曼滤波方程,在方程中附加一个权值,能有效的提高载体在低速运动中的位置精度。
Using ＂current＂ statistical model describing estimating moving targets,it establishes the characteristics of the measurement equation of the system based on the information of position and velocity outputted by GPS receiver,establishes standard dynamic positioning GPS Kalman filter model and describes the algorithm derivation.Simulating analysis,Kalman filter equation with velocity information has great vector position error at low speed,through improving Kalman filter equations,attaching a weight in the equation.It can effectively improve the carrier′s position accuracy in low speed.
出处
《江西科学》
2011年第1期39-42,共4页
Jiangxi Science
