一种改进的GPS动态定位滤波方法

针对GPS接收机能够测量卫星信号的多普勒频率的特性,亦即能够测量三维速度的特性,引入了一种改进的GPS定位系统滤波算法。首先,根据机动载体的"当前"统计模型建立了系统状态方程;然后,根据GPS接收机实际能够输出位置与速度信息的特点建立了系统的量测方程;最后,给出了标准的卡尔曼滤波算法模型并详细描述了算法的推导过程。仿真结果表明,改进算法相对于以前的算法无论是在精度和跟踪速度方面都有较大的提高。

One Improved Filtering Method for GPS Dynamic Positioning

Because GPS receiver can measure the Doppler frequency of satellite signal, namely it can measure the 3D velocity of the carrier, in this paper, one improved filtering method of GPS dynamic positioning was introduced. According to the ＂current＂ statistical model of automotive carrier, first the system’s state equation was established, then the system’s measurement equation was established according to the characteristic that the GPS receiver could output position and velocity information. At last the normal Kalman filtering algorithm model was given and the deducing process of this algorithm was described in detail. The simulated results showed that relative to the previous algorithm, this improved algorithm could improve the precision and tracking speed of system’s state parameters.