An Improved Method of Adaptive Kalman Filtering for Vehicular Kinematic Positioning

摘要：

　　Due to the fact that the traditional Kalman filtering has difficulties in determining dynamic noise and observation noise in the application of vehicular GPS dynamic positioning,an improved adaptive Kalman filter algorithm is put forward for GPS dynamic positioning in this paper.The proposed algorithm has the ability of making a real-time correction on the parameters of system noise,avoiding the filter divergence during the traditional Kalman filtering.In addition,it overcomes the problems caused by the variable dimensions of the system positioning state.Experiment results have demonstrated the outstanding adaptive ability of the improved Kalman filter.

关键词： Kalman Filtering GPS Vehicular Adaptive

作者: WANG Meng HU Huaen WANG Xiaofeng ZHANG He ZHANG Aijun

作者单位: School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094;Shangha School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 782-786

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）