| GPS车载导航的交互式多模型算法 |
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| 引用本文： | 王忠军.GPS车载导航的交互式多模型算法[J].测绘学院学报,2009(3). |
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| 作者姓名： | 王忠军 |
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| 作者单位： | 信息工程大学测绘学院;河南省交通厅; |
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| 摘 要： | GPS动态定位数据的处理广泛采用卡尔曼滤波技术,而应用卡尔曼滤波要求运动模型准确可靠,但由于载体真实运动的复杂多变,任何单一模型都难以全面描述,致使单一模型的滤波都容易出现模型误差。针对这一问题,将机动目标跟踪领域广泛应用的交互式多模型算法引入到车载导航中。通过分析车辆的运动特点,选取匀速直线模型和当前统计模型进行交互;同时考虑到车载终端计算能力有限,将状态变量在各方向解耦。仿真显示,在机动时改进的算法和单一模型的自适应算法基本相当,但在非机动时改进的算法明显占优。
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| 关 键 词： | 全球定位系统 车载导航 卡尔曼滤波 交互式多模型 匀速直线模型 |
IMM Algorithm for GPS Navigation of Vehicle |
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| WANG Zhong-jun.IMM Algorithm for GPS Navigation of Vehicle[J].Journal of Institute of Surveying and Mapping,2009(3). |
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| Authors: | WANG Zhong-jun |
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| Institution: | 1.Institute of Surveying and Mapping;Information Engineering University;Zhengzhou 450052;China;2.Communication Department of Henan Provice;Zhengzhou 450000;China |
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| Abstract: | Kalman filters were used extensively in data processing of GPS dynamic positioning,while the application of Kalman Filters required that the dynamic model was practical and reliable,but in actual the vehicle motion was complex and changeful,which made it was impossible to express the motion by single model,anyhow model errors often occured in the filters based on single model.In view of the problem,the interacting multiple model(IMM) algorithm,which was used extensively in maneuvering target tracking,was in... |
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| Keywords: | GPS vehicle navigation Kalman filtering IMM system model constant velocity model |
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