CAJ | 학술논문

介绍一种嵌入式GPS/DR(全球定位系统/航位推算)车载组合导航(它通过GPS与DR的优势互补,提高了车辆导航系统定位数据的可靠性)的EKF(扩展卡尔曼滤波)算法软件设计方法.采用统计学原理剔除导航数据的粗差点,用扩展卡尔曼滤波进行导航参数的实时求解,采用EKF算法的GPS/DR组合导航系统有利于导航信息的稳定性、可靠性和实时性.
개소일충감입식GPS/DR(전구정위계통/항위추산)차재조합도항(타통과GPS여DR적우세호보,제고료차량도항계통정위수거적가고성)적EKF(확전잡이만려파)산법연건설계방법.채용통계학원리척제도항수거적조차점,용확전잡이만려파진행도항삼수적실시구해,채용EKF산법적GPS/DR조합도항계통유리우도항신식적은정성、가고성화실시성.
The GPS/DR (global position system/dead reckoning) integrated system can improve the reliability of the positioning data in virtue of advantage complementation. A software design of the extended Kalman filtering(EKF) algorithm for the embedded GPS/DR vehicle integrated navigation system is introduced. The gross errors in the navigation data are detected and removed based on statistic theory, and the navigation parameters are obtained with the extended Kalman filtering algorithm in real time. The GPS/DR vehicle integrated navigation system with EKF is advantageous to the stability and reliability of the navigation information and beneficial to real-time navigation.