智能航迹推算系统的研究

 提出了一种新模糊滤波法用于补偿磁罗盘测量值中的低频干扰。在此基础上 ,进一步提出了一种新的滤波方法 :模糊 -补偿滤波法 ,以消除磁罗盘测量值中各种干扰的影响。仿真表明 :在较长的时间内 ,采用模糊 -补偿滤波法的航迹推算系统的航向估值误差和位置误差均较小。

INVESTIGATION OF INTELLIGENT DEAD RECKONING SYSTEM

In automobile navigation system, a dead reckoning system is used to solve the problem of GPS signal blocking in urban areas. In order to meet accuracy and reliability requirements, the gyroscope and compass,both of which have low accuracy, are integrated to determine the vehicle heading in DR system. Such integration has been achieved by a complementary filter. However, it has been pointed out that it has no effect in removing long term compass measurement errors resulting from long term magnetic anomalies. To deal with this problem, the use of a fuzzy filter to compensate for long term errors is presented. Furthermore, a complementary fuzzy filter is constructed to remove both short term and long term errors. It is shown through simulation results that application of this complementary fuzzy filter results in smaller heading errors and position errors .