針對車載GPS/DR 組合導(dǎo)航系統(tǒng)的特點(diǎn)，采用聯(lián)邦濾波算法，構(gòu)建了兩級結(jié)構(gòu)的聯(lián)邦卡爾曼濾波器。子濾波器分別處理GPS 和DR 傳感器信息，主濾波器進(jìn)行信息融合，并對子濾波器進(jìn)行信息分配和重置，克服了GPS 單獨(dú)使用時(shí)因信號中斷而引起的系統(tǒng)失效，使系統(tǒng)具有更好的容錯(cuò)能力，進(jìn)一步提高了系統(tǒng)的定位精度。試驗(yàn)結(jié)果證明了算法的有效性。
關(guān)鍵詞：組合導(dǎo)航；聯(lián)邦濾波；信息融合；定位精度
Abstract: The federal filter, structured with 2 levels, is used to realize the information fusion of vehicle GPS/DR navigation system. Two local filters process GPS and DR data respectively, and main filter is responsible for data fusion and data reset to local filters according to the information distribution rule. The system positioning precision is much higher than that of GPS used only, and the system unavailability caused by GPS signal interrupting is avoided. The experiment results turn out that the algorithm is effective.
Keywords: integrated navigation; federal filtering; information fusion; positioning precision