Study On Kalman Filtering In GPS/DR Integrated Navigation For Vehicle

The main work of this paper is composed of three parts: the first one is the normal Kalman filtering for the signal of Global Positioning System (GPS); the second one is the extended Kalman filtering for the signal of Dead Reckoning (DR); the last one is the information fusion between GPS and DR.GPS is a precise new-generation location system promoted by the fast development of the modern science and technology. It has gained extensive development in the fields of military and civilian affairs for its all-global, all-weather, continuous and real-time characteristic. In these years, the technology of GPS location develops very quickly in the research of its basic application and expanding new domain. The technology of location and navigation comes into a new stage. In the same time, people have higher demands to the location precision. There are many error sources in the GPS's data which influence the location precision. It is very difficult to eliminate these errors by traditional way. Dynamic filtering is one of the most important ways to eliminate random errors in the GPS location. In other words, filter is must be used to eliminate all types of random errors, and the location precision is promoted. Wiener filtering and Kalman filtering are two means of classical optimal filtering. But because Wiener filtering is used in frequency domain, its application is limited. Kalman filtering is used in time domain, so it is adapts to the multi-variables system and the time-varying system. It also adapts to the un-stability random process. Otherwise, it is realized easily in the computer because its character of recursion. So it gains extensive application. The system's...