相关观测噪声下的动态定位分析  

Analysis for Dynamic Positioning on Correlated Measurement Noise

作　　者：朱虹[1] 吴敏华[1] 关永[1] 关桂霞[1] 

机构地区：[1]首都师范大学信息工程学院,北京100037

出　　处：《微计算机信息》2007年第36期215-217,共3页Control & Automation

基　　金：北京市自然科学基金项目(4062009);北京市高校中青年骨干教师(075313104)

摘　　要：对车载环境下的定位误差作时间序列分析,得到二阶马尔可夫过程的定位误差模型。将定位误差作为观测噪声,以此建立的观测方程中的观测噪声具有时间相关性。利用观测量相差法,把相邻两次观测量的相关部分消去,建立起观测噪声为白噪声的观测方程,并推导出状态估计的递推方程。避免了高阶矩阵的求逆,有效地减少了计算量,并降低了对内存的需求,提高了车载动态定位系统的实时性和定位精度。仿真结果进一步证明了算法的有效性。The model of vehicle positioning error can be described as a 2-order Markov process, according to the results of time-series analysis. The positioning error has time-correlation, which is regarded as measurement noise in the measurement equation. The correlated portion of measurement is eliminated after the approach of measurement subtracting is proposed, and the new measurement equation is built whose noise is white. The recursive state estimation algorithm is given, by which higher-order matrix inverse is avoided. So its calculation is simplified . The simulation results show that the algorithm is effective.

关 键 词：车载 马尔可夫过程 相关观测噪声 观测量相差 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]