Application Research Of Kalman Filter In Satelliate Navigation

Kalman filter theory was firstly proposed in the 1960s. Essentially speaking, it is a kind of optimized real-time recursive algorithm that depends on a little number of stored observational data when in the process of solution. What's more, it can calculate new value of filter parameters when has got new observational data, which is easy to process real-time observations, therefore, it has been paid more and more attention in practical applications. With the rapid development of computer technology, the modern theory of estimates that based on Kalman filtering technology has been widely used in aerospace, aviation, navigation, systemsengineering, communications, industrial process control, remote sensing and other fields. This thesis focuses on Kalman filtering technology in the GPS satellite navigation application. The main objective is to use Kalman filtering technology to predict the carrier track and to establish satellite navigation system software, to improve the accuracy of GPS positioning navigation and enhance the ship's dynamic tracking capability.This thesis first summarizes the development of Kalman filter technology in the GPS navigation, analyzes the essential component of GPS system and expatiates the GPS positioning principles. Then after researches on the main factors which may impact navigation accuracy and the basic Kalman filter principles, this thesis applies Kalman filter theory to GPS satellite navigation. This paper puts forward the system design sketch which based on the needs of GPS navigation, gives the system hardware and software design process, establishs Kalman filter models for satellite navigation, and realizes the conversion among different coordinate systems and smoothes velocity.Finally,by using VC++ development environment and database technology on windows platform ,the design implementes the main functions of satellite navigation system software ,mainly designs and preliminary implements the receiver module of navigation software, Kalman filtering module, database module, and interface module.The key techniques are as follows: the serial communication between GPS-OEM board and computer COM port using CSerialPort class, the establishment of Kalman filter CKalman class module, the design and storage operation of Access database, the realization of human-computer interface and real-time track display module. This design can portray graphics before and after filtering. By comparison, it is easy to see that Kalman filtering can make positioning accuracy more precise, significantly increase the estimation accuracy of location, direction and speed in the course of sailing.In short, the Kalman filter technology and its application in the Satellite Navigation System studied in this paper, has some certain realistic significance and value for the protection of sailing safety and improvement of transport efficiency.