关于GPS导航计算的卡尔曼滤波问题

探讨卡尔曼滤波在实际应用中存中的建模误差、滤波初值的选取、系统噪声方差和量测噪声方差的确定、以及滤波发散等问题及其解决方法 ,得到适用于 GPS导航计算的卡尔曼滤波器。通过实测算例 ,比较卡尔曼滤波与最小二乘的估计结果 ,说明文中所设计的卡尔曼滤波器的合理性 ,解决问题方法的有效性 ,滤波过程稳定 ,计算速度快 ,状态参量的估计精度较高

On Kalman Filtering of GPS Navigation Calculation

Kalman filter applied to processing standalone GPS navigation data is designed in this paper.Some guestions of Kalman filter in practical application,such as the modeling error,how to select the initial value of filter,how to determine the system noise variance and measurement noise variance and the filter divergence,will be discussed.Meanwhile,the corresponding methods of solving the problems ane also given.Based on the practical computing examples,the evaluated result by Kalman filter method is compared with that by the method of least squares.Finally,it can be shown that the designed Kalman filter is feasible,the method solving the problems is efficient,the filtering program is stabile,the computing velocity is fast and the estimating accuracy of status parameters is higher.