| 基于SUT-EKF的DGPS/DR 组合定位算法 |
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| 引用本文： | 石杏喜,王铁生,黄波,赵春霞.基于SUT-EKF的DGPS/DR 组合定位算法[J].测绘学报,2010,39(5):528-533. |
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| 作者姓名： | 石杏喜 王铁生 黄波 赵春霞 |
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| 作者单位： | 南京理工大学,理学院,江苏,南京,210094;华北水利水电学院,资源与环境学院,河南,郑州,450008;南京理工大学,计算机科学与技术学院,江苏,南京,210094 |
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| 基金项目： | 国家863计划(2006AA04Z238) |
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| 摘 要： | 针对基于DGPS/DR的移动机器人组合定位问题，采用一种尺度无迹变换扩展卡尔曼滤波(SUT-EKF)算法，由于组合定位系统中的状态方程是非线性的，并且观测方程是线性的特点，将SUT预测移动机器人位姿，利用EKF融合最新观测值更新机器人位姿，该算法在状态预测阶段避免了计算Jacobian矩阵，从而有效地减小了线性化对非线性系统误差的影响。仿真结果表明，该算法具有较好的滤波精度和稳定性，为实现DGPS/DR组合定位系统提供了一种有效可靠的途径。
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| 关 键 词： | 尺度无迹变换 扩展卡尔曼滤波 移动机器人 组合定位 |
| 收稿时间： | 2009-08-05 |
| 修稿时间： | 2010-04-27 |
Integrated Localization Algorithm for DGPS/DR Based on SUT-EKF |
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| SHI Xingxi,WANG Tiesheng,HUANG Bo,ZHAO Chunxia.Integrated Localization Algorithm for DGPS/DR Based on SUT-EKF[J].Acta Geodaetica et Cartographica Sinica,2010,39(5):528-533. |
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| Authors: | SHI Xingxi WANG Tiesheng HUANG Bo ZHAO Chunxia |
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| Institution: | SHI Xingxi1,WANG Tiesheng3,HUANG Bo2,ZHAO Chunxia2 1.School of Science,Nanjing University of Science and Technology,Nanjing 210094,China,2.School of Computer Science and Technology,3.College of Resources and Environmental Information,North China Institute of Water Conservancy and Hydroelectric Power,Zhengzhou 450008 |
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| Abstract: | Aiming at the integrated localization issue for mobile robot based on DGPS/DR,an algorithm based on scale unscented transformation and extended Kalman filter(SUT-EKF)is used.For the characteristic of nonlinear state equation and linear measurement equation,the robot location can be predicted by SUT and can be updated with new observations by EKF.The algorithm doesn't compute the Jacobian matrix,it can decrease effectively the error of nonlinear system brought by the linearization.Simulation results show tha... |
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| Keywords: | scale unscented transformation(SUT) extended Kalman filter(EKF) mobile robot integrated localization |
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