A Research of Dynamic Cooperative Localization System via Extended Kalman Filter
The Global Navigation Satellite System (GNSS) is widely used in navigation and positioning system.While in some GNSS-challenged environments,such as urban canyons,dense foliage and building block,it will fail to guarantee the service quality or can’t provide service at all.Several satellite enhanced means were presented to solve such problem and among them,the cooperative localization has great prospective as it can reduce the dependence of infrastructure.The key of the cooperative localization is the algorithm.This paper established an equation of the system based on a Position-Velocity-Time (PVT) model and employed the extended Kalman filter algorithm to estimate the user’s location and velocity in a dynamic cooperative localization system.This paper gave out the detailed derivation process and built the model though the three-dimension position of each satellite generated by software.The simulation results show that the algorithm can track the path of dynamic users and effectively estimate the user’s velocity.
Extended Kalman Filter Cooperative Localization Dynamic System Performance Estimation
Ke Mingxing Lv Jing Zhou Xuan Tong Kaixiang Zhu Ming
College of Communications Engineering,PLA University of Science and Technology,Nanjing,Jiangsu,21000 61773 Troops of PLA,Urumchi,Sinkiang,830014,China
国内会议
西安
英文
1-11
2015-05-13（万方平台首次上网日期，不代表论文的发表时间）