基于联合卡尔曼滤波的GPS/DR融合仿真  

The Research of GPS/DR Fusion Simulation Based on UKF

作　　者：张晓霞[1] 李晓琳[1] 王宏玉[1] 张雷[1] 韩刘柱[1] 

机构地区：[1]沈阳建筑大学交通与机械工程学院,辽宁沈阳110168

出　　处：《沈阳建筑大学学报（自然科学版）》2013年第1期163-167,共5页Journal of Shenyang Jianzhu University：Natural Science

基　　金：国家自然科学基金项目(60879012/F01);辽宁省自然科学基金项目(20072009)

摘　　要：目的研究GPS(Global Positioning System)与DR(Dead Reckoning)组合导航融合技术,使AGV获得更加稳定可靠的导航定位数据.构建出适用于GPS/DR组合导航系统的联合卡尔曼滤波器.方法在GPS(全球定位系统)基础上增加DR(航位推算系统)用以辅助GPS定位.采用randn()函数作为随机数发生器,基于MATLAB软件对联合卡尔曼滤波融合算法进行理论分析及仿真研究.创新性的提出系统补偿系数G,将它用于联合卡尔曼滤波中,使得滤波效果可人工调控.结果设计出适用于AGV的GPS/DR组合导航系统联合卡尔曼滤波器,建立MATLAB仿真模型.在MATLAB仿真模型中AGV行驶路程为50 m,GPS导航误差范围为6 m,信号波动较大.DR导航最大误差为1.8 m,误差逐渐累积,结果不收敛.GPS/DR组合导航系统误差为0.2 m,信号波动平稳,结果收敛.结论 GPS/DR组合导航系统即克服了GPS信号的遮蔽问题,又充分利用了DR的短时高精度自主定位的优势.仿真结果表明,该方法在保证了系统定位精度前提下,有效提高了系统的容错性和工作可靠度.The article aimed at studying the GPS（Global Positioning System）and DR（Dead Reckoning）integrated navigation fusion technology,applying it in the AGV（Automated Guided Vehicle）navigation,making AGV obtained more stable navigation data.This article has constructed federal kalman filter which was suited for GPS/DR integrated navigation system,used MATLAB simulation modeling,outputted simulation results and analyzed the simulation results to verify the feasibility of federal kalman filter.The author used randn（）function as a random number generator and analyzed federal kalman filtering fusion algorithm based on MATLAB software.Innovatively putting forward system compensation coefficient G,the filtering effect can be made to artificial regulation.In the MATLAB simulation model（out of 50 m）,GPS error range is 6 mwith signal greatly fluctuating.DR navigation maximum error is 1.8 m,whose result doesn′t convergence.GPS/DR integrated navigation system error is 0.2 m with signal fluctuating stationary and the result convergence.The result of simulation indicates that this method on the premise of system precision,the system fault tolerance and work reliability is improved.GPS/DR integrated navigation system overcomes the problem of GPS signal cover and makes full use of the short-term high precision with independent positioning feature of DR.

关 键 词：AGV 联合卡尔曼滤波 GPS DR组合导航系统 MATLAB仿真技术 系统补偿系数G 

分 类 号：TH132.41[机械工程—机械制造及自动化]