The Research Of Vehicles Positioning System Based On Integrated Kalman Filter

Intelligent Transportation System (ITS) is an open complex giant system and emerging inter-disciplinary research field. Intelligent Vehicle positioning and navigation system is a typical representation of new vehicle information electronic products, whose application is of great significance for mitigating and improving the urban traffic conditions, promoting road safety and improving the efficiency of traffic rate. As a major aspect of ITS application and research, integrated positioning system is an integrated system, which combined positioning systems, geographic information systems, database query system and digital cellular communication technology. In recent years, it has become an important research content of vehicle navigation and positioning systems that how to make GPS technology with DR dead reckoning system and map-matching system better integrated.From the aspect of cost, reliability, positioning accuracy and technical support etc, GPS positioning system, dead reckoning (DR) and map-matching (MM) is decided of integrated positioning system. GPS and DR is a common integrated positioning methods of vehicle navigation and positioning system, though it is possible to improve the accuracy and reliability of navigation and positioning systems, its data still contains certain errors, and under the conditions of GPS signal long-term loss, the DR system's error will be accumulated as time go by, for the error cannot be corrected. In accordance with DR system theory and GPS/DR integrated structure, DR system is composed by gyroscopes and mileage, mathematical model of an integrated positioning system is established, which greatly improve reliability and practicality of integrated navigation and positioning system by using an adaptive integrated Kalman filter technology. The precise positioning of mobile targets requires man hand correcting. In the actual system, map matching method is commonly used to improve the accuracy of DR and GPS systems. With the combination of electronic maps and GPS/DR Integrated navigation and positioning systems, a map matching algorithm based on D-S evidential reasoning is proposed to identify the error region, select the matching road, and correct positioning results by using correction algorithm of navigation and positioning data based on fuzzy logic. Take advantage of two methods, an optimal combination of error regional, matching roads and positioning data's correction is realized, which is compared with former algorithm, and proved to possess relatively high real-time quality and matching rate with the two methods. At the same time, shortest distance path is obtained by adopting classic Dijkstra algorithm.The application of vehicles positioning system based on integrated Kalman Filter is researched in this paper, the method of which is globally optimal and the structure of which follows the principles of information sharing. Value stability and fault tolerance of system are improved, quantity of information transmission and computation are reduced by this method. Compared with general positoning methods, positioning accuracy and reliability of GPS/DR/MM integrated positioning system are improved. Efficiency and security of vehiclular operation are strengthened effective, traffic capacity of the road can be improved and traffic congestion can be moderated.