GPS / DR Vehicle Integrated Navigation System Of The Key Theoretical Issues

According to applicable to target motion reasonable "current" statistical model, establishing a system of GPS and the DR model, Kalman filtering method with the navigation system's signal filtering analysis and calculation.According to a GPS navigation system presents an extension of strong tracking (E-SKF) Kalman filter. This filter with a kind of convergence criteria to determine the filtering calculation. When receiving signal normal when using extended kalman filter (EKF) calculation, when receiving signal anomalies to use strong tracking kalman filter (SKF) calculation. Analyses the normal conditions and signal loss situation of the simulation analysis. Simulation results show that the filter has good filtering and stability.UT transformation is designed based on strong tracking Kalman filter (UT-SKF) and applied to DR navigation subsystem. This filter will be strong tracking Kalman filter in the discrete fading factorλexpression in Unscented Kalman Filter covariance matrix to represent, and strong tracking coefficient calculation process to Unscented Kalman Filter Between the forecasting process and the estimation process, enhanced fault tolerance and stability of the filter. GPS navigation subsystem calculated by basic Kalman filter. Combination of these two subsystems, designed a GPS/DR integrated navigation system, the federal Kalman filter. To UT-SKF constitute Federal Kalman filter not only learned a strong tracking Kalman filter the advantages of fault-tolerant capability, but an accurate description of the vehicle motion state of the operating system benefits Unscented Kalman Filter. The simulation indicates that it is one kind has high precision and high stability of the vehicle navigation positioning system, has some of the engineering application value.