关键词: 球面模型 卡尔曼滤波 鲁棒滤波 GPS航位推算

Abstract:

It is common that building and solving the Kalman filtering equation of constant coefficient matrixes based on the 2D DR models in the GPS/DR integrated navigation. In fact, the mobile objects move along the spherical surfaces on the earth. In order to gain a more accurate mathematical model, this art icle builds a spherical model of the GPS/DR integrated navigation, acquires a Kalman filtering model including the uncertainty parameter, and uses an im  proved robust Kalman fil- tering algorithm. Simulation is done for moving along longitude, latitude and circle movement respectively. The results indica   te that the robust Kalman filtering algorithm based on the model of this paper is more precise than the Kalman filtering.

Key words: spherical model, Kalman filtering, robust filtering, GPS, dead-reckoning