一种基于卡尔曼滤波的动态目标GPS定位算法  

A Dynamic Target GPS Localization Algorithm Based on Kalman Filter

作　　者：陈宝远[1] 孙宇思 陈光毅[1] 孙忠祥[1] 吴丽华[1] 

机构地区：[1]哈尔滨理工大学测控技术与仪器黑龙江省高校重点实验室,黑龙江哈尔滨150080

出　　处：《哈尔滨理工大学学报》2016年第4期1-6,共6页Journal of Harbin University of Science and Technology

基　　金：黑龙江省教育厅科学技术研究项目(12531113)

摘　　要：针对动态目标的GPS定位精度不高和实时性较低的问题,通过改进卡尔曼滤波的定位算法,有效消除GPS动态数据的随机误差,给出了仿真得出的运动轨迹对比图和误差曲线对比图.该算法将速度观测量加入到常规的卡尔曼方程中,得出带约束项的改进型卡尔曼方程.通过实验结果可以看出该算法可以有效提高动态目标的GPS定位精度和实时性,具有重要的理论和实际意义.In view of the problem of low accuracy and real-time of GPS positioning accuracy of dynamic target, by improving the localization algorithm of the Kalman filter, the random error of the GPS dynamic data is eliminated effectively, and presenting the simulation of trajectory contrast figure and error curve contrast figure. The speed measurement is added to the conventional Kalman equation, and the modified Kalman equation with constraints is obtained. Through the experimental results, it can be seen that the algorithm can effectively improve the accuracy and real-time of GPS localization of the dynamic target. It has important theoretical and practical significance.

关 键 词：动态目标 GPS定位 卡尔曼方程 约束项 

分 类 号：TN966[电子电信—信号与信息处理]