无线电工程2016，Vol.46Issue(12)：43-46,82,5.DOI:10.3969/j.issn.1003-3106.2016.12.11
一种简化的车载自适应组合导航算法
A Simplified Adaptive Filter in Vehicle Integrated Navigation System
摘要
Abstract
To solve the problem of worse GNSS ( Global Navigation Satellite System ) signal observation and decreased even diverged integrated filter stability caused by the signal attenuation and interruption for vehicle integrated navigation system in complex road environment,a simplified vehicle adaptive integrated navigation algorithm easily for engineering practical application was adopted. Raw GNSS observation data was evaluated by the data detection method, adaptive filter factor was constructed according to the evaluation results,filter measurement noise covariance matrix was updated in real time to improve the adaptive ability for the change of measurement information.According to actual vehicle moving field test,the simplified adaptive navigation system could guarantee a posi⁃tion accuracy of 3 m (RMS),and a velocity accuracy of 0.04 m/s (RMS).The position accuracy is improved nearly 30% and velocity accuracy is improved up to 70% in contrast with Kalman filter when GNSS signal was interrupted.This approach can satisfy vehicle navi⁃gation requirement in bad environment such as city,mountain area and so on.关键词
车载导航/组合导航/自适应滤波/量测噪声协方差阵Key words
vehicle navigation/integrated navigation/adaptive filter/measurement noise covariance matrix分类
信息技术与安全科学引用本文复制引用
刘鹏飞,智奇楠,王青江,马国驹,王立兵..一种简化的车载自适应组合导航算法[J].无线电工程,2016,46(12):43-46,82,5.基金项目
国家高技术研究发展计划（“863”计划）基金资助项目（ ZX151450001，2013AA122105）。 （）
