附有地图信息约束的GPS/DR组合导航系统Kalman滤波算法  

KALMAN ALGORITHM CONSTRAINTED BY MAP INFORMATION APPLIED TO GPS/DR INTEGRATED NAVIGATION

作　　者：林东方[1] 宋迎春[1] 肖琴琴[1] 杜琨[1] 

机构地区：[1]中南大学地球科学与信息物理学院测绘与国土信息工程系,长沙410083

出　　处：《大地测量与地球动力学》2012年第1期132-135,共4页Journal of Geodesy and Geodynamics

基　　金：国家自然科学基金(40874005);教育部博士点基金(200805331086)

摘　　要：在GPS/DR组合导航系统中,GPS信号极易受到地物的遮挡而导致信号中断,仅由DR系统单独进行导航,而DR系统方向传感器误差会随时间延长不断积累从而极大地影响了导航定位的精度。通过将地图信息作为约束条件融合到组合导航系统算法中,对DR系统方向传感器累积误差进行约束和修正,就可有效提高定位精度。In the GPS/DR integrated navigation, the signals of GPS are easy to be blocked by the ground objects, so the signal receiving to be interrupted and GPS positioning is suspended,DR system runs separately. In that case, the direction sensor errors of the DR system accumulate with time, which greatly affects the navigation accuracy. By making the map information be a constraint integrated into the navigation system algorithm, then it restricts the direction sensor errors of the DR system accumulate with time and effectively improve the positioning accuracy.

关 键 词：地图信息 组合导航 扩展Kalman滤波 统计模型 DR导航系统 

分 类 号：P207[天文地球—测绘科学与技术]